adhoc

completed
2026-09-22T23:22:40.187270+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (72 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.anthropic.com/v1
depth
render
effort
medium
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
16000
max_speed_frac
0.25
model
claude-opus-5
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
speed
null
temperature
null
transcript_echo
false
wire
messages
wire_capture
true
seed
0
max steps
900
duration
477.9 s
total steps
229
success_at_end
0
scenes
1
trials
1
errored
0

scene-0

completed

Stand all three bottles upright.

Reduced scores

success_at_end=0

Trial scores

trial 0 success_at_end=0

Termination reasons

done

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stand all three bottles upright.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stand all three bottles upright.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteThree bottles lie on their sides in the middle of the table, caps pointing toward the lower-left in the top view. I'm moving the left arm to hover ~20 cm above the nearest (left-most) bottle's cap end to line up a grasp on its neck.
move_to
left_x0.2700left_y-0.1400left_z0.2000left_gripper0.6000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7933, 0.6071, -0.3775, -0.0231, -0.0288, 0.9986, -0.0181, 0.7891, 0.6037, -0.3832, -0.0135, -0.0174, 0.9998] state[eef_state]: left_x=0.2954 left_y=0.0017 left_z=0.1821 left_yaw=0.0003 left_pitch=0.0 left_roll=0.0002 left_gripper=0.9986 right_x=0.294 right_y=0.0007 right_z=0.1805 right_yaw=-0.0004 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9998 state[joint_eff]: [-0.3214, -1.4291, 9.7846, 1.8193, -0.0024, 0.1294, -0.1587, -0.6085, -1.1145, 10.4684, 1.8632, -0.1294, 0.0269, -0.0317] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.27, "left_y": -0.14, "left_z": 0.2, "left_gripper": 0.6}, "note": "Three bottles lie on their sides in the middle of the table, caps pointing toward the lower-left in the top view. I'm moving the left arm to hover ~20 cm above the nearest (left-most) bottle's cap end to line up a grasp on its neck."})
tool
executing move_to over 13 steps (1.3s)
step 13
top_cam
camera top_cam step 13
left_cam
camera left_cam step 13
right_cam
camera right_cam step 13
assistant
agent noteIn the top view my left gripper sits a few cm to the left of and behind the nearest bottle; shifting ~7 cm right and 3 cm forward, lowering to 16 cm, to get the wrist camera over the bottle for a closer look.
move_to
left_x0.3000left_y-0.2100left_z0.1600
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.8661, 1.0214, 0.7715, -0.5518, -0.659, -0.5533, 0.6022, -0.0212, 0.7967, 0.6044, -0.3981, -0.0231, -0.017, 0.9998] state[eef_state]: left_x=0.2667 left_y=-0.1412 left_z=0.1841 left_yaw=-0.0473 left_pitch=-0.041 left_roll=0.0204 left_gripper=0.6022 right_x=0.2926 right_y=0.0015 right_z=0.1757 right_yaw=0.0044 right_pitch=-0.022 right_roll=0.006 right_gripper=0.9998 state[joint_eff]: [-0.2393, -2.7966, 9.4427, 1.2967, -0.442, 0.0757, 0.105, -0.0068, -1.8667, 6.9812, 1.8584, 0.0611, -0.0317, -0.0122] camera 'top_cam' (step 13): [image omitted: streamed camera frame] camera 'left_cam' (step 13): [image omitted: streamed camera frame] camera 'right_cam' (step 13): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.3, "left_y": -0.21, "left_z": 0.16}, "note": "In the top view my left gripper sits a few cm to the left of and behind the nearest bottle; shifting ~7 cm right and 3 cm forward, lowering to 16 cm, to get the wrist camera over the bottle for a closer look."})
tool
executing move_to over 7 steps (0.7s)
step 20
top_cam
camera top_cam step 20
left_cam
camera left_cam step 20
right_cam
camera right_cam step 20
assistant
agent noteThe wrist view shows the near bottle's cap/neck about 7 cm to my left of the jaw column (a 6 cm arm move shifted the image 40 px, ~6.7 px/cm). Shifting back left 7 cm and descending to 8 cm to line up on the neck.
move_to
left_x0.3000left_y-0.1300left_z0.0800
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.9432, 1.33, 0.8024, -0.3428, -0.7082, -0.6079, 0.6022, -0.02, 0.7902, 0.5842, -0.3969, -0.0235, -0.0174, 0.9998] state[eef_state]: left_x=0.2901 left_y=-0.1981 left_z=0.1409 left_yaw=-0.0585 left_pitch=-0.0574 left_roll=0.0516 left_gripper=0.6022 right_x=0.2897 right_y=0.0019 right_z=0.1685 right_yaw=0.0061 right_pitch=-0.0346 right_roll=0.0062 right_gripper=0.9998 state[joint_eff]: [-0.6085, -5.2444, 9.5248, 1.5165, -0.5397, -0.1099, -0.0073, -0.0068, -1.812, 6.8444, 1.9463, 0.022, -0.0659, -0.0122] camera 'top_cam' (step 20): [image omitted: streamed camera frame] camera 'left_cam' (step 20): [image omitted: streamed camera frame] camera 'right_cam' (step 20): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.3, "left_y": -0.13, "left_z": 0.08}, "note": "The wrist view shows the near bottle's cap/neck about 7 cm to my left of the jaw column (a 6 cm arm move shifted the image 40 px, ~6.7 px/cm). Shifting back left 7 cm and descending to 8 cm to line up on the neck."})
tool
executing move_to over 7 steps (0.7s)
step 27
top_cam
camera top_cam step 27
left_cam
camera left_cam step 27
right_cam
camera right_cam step 27
assistant
agent noteThe wrist view shows this bottle lying diagonally with its cap pointing forward-left, so I rotate the tool 45° CCW to put the jaws perpendicular to the bottle axis, and drop to table level just behind it before closing in.
move_to
left_yaw0.7850left_z0.0200left_gripper0.9000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.7155, 1.2381, 0.4084, 0.0898, -0.5743, -0.4427, 0.6022, -0.02, 0.7723, 0.5507, -0.3782, -0.0235, -0.0212, 0.9998] state[eef_state]: left_x=0.2954 left_y=-0.1248 left_z=0.0742 left_yaw=-0.02 left_pitch=-0.0386 left_roll=0.0262 left_gripper=0.6022 right_x=0.2869 right_y=0.002 right_z=0.1618 right_yaw=0.0081 right_pitch=-0.0315 right_roll=0.003 right_gripper=0.9998 state[joint_eff]: [0.2667, -4.4786, 6.0923, 1.7656, -0.1099, 0.2173, -0.0073, 0.1709, -1.7026, 6.9812, 1.9316, 0.0269, -0.0366, -0.0122] camera 'top_cam' (step 27): [image omitted: streamed camera frame] camera 'left_cam' (step 27): [image omitted: streamed camera frame] camera 'right_cam' (step 27): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_yaw": 0.785, "left_z": 0.02, "left_gripper": 0.9}, "note": "The wrist view shows this bottle lying diagonally with its cap pointing forward-left, so I rotate the tool 45\u00b0 CCW to put the jaws perpendicular to the bottle axis, and drop to table level just behind it before closing in."})
tool
executing move_to over 6 steps (0.6s)
step 33
top_cam
camera top_cam step 33
left_cam
camera left_cam step 33
right_cam
camera right_cam step 33
assistant
agent noteWith the tool yawed 45° the bottle now appears axis-vertical in the wrist view, so the open jaws straddle it correctly; advancing ~4 cm along the tool's forward direction at neck height to bring the jaws around the bottle's neck.
move_to
left_x0.3680left_y-0.1470left_z0.0320left_yaw0.7850
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.8974, 1.9121, 0.989, -0.4202, -1.0317, -1.3926, 0.8976, -0.02, 0.7555, 0.5209, -0.366, -0.0238, -0.0254, 0.9998] state[eef_state]: left_x=0.3334 left_y=-0.1691 left_z=0.0451 left_yaw=0.5703 left_pitch=0.039 left_roll=-0.061 left_gripper=0.8976 right_x=0.2838 right_y=0.0021 right_z=0.1552 right_yaw=0.0107 right_pitch=-0.0323 right_roll=-0.0002 right_gripper=0.9998 state[joint_eff]: [0.1162, -7.0085, 1.265, -0.9499, 0.2613, 0.315, -0.105, -0.2393, -1.265, 6.9128, 1.9805, -0.0415, -0.0171, -0.0073] camera 'top_cam' (step 33): [image omitted: streamed camera frame] camera 'left_cam' (step 33): [image omitted: streamed camera frame] camera 'right_cam' (step 33): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.368, "left_y": -0.147, "left_z": 0.032, "left_yaw": 0.785}, "note": "With the tool yawed 45\u00b0 the bottle now appears axis-vertical in the wrist view, so the open jaws straddle it correctly; advancing ~4 cm along the tool's forward direction at neck height to bring the jaws around the bottle's neck."})
tool
executing move_to over 3 steps (0.3s)
step 36
top_cam
camera top_cam step 36
left_cam
camera left_cam step 36
right_cam
camera right_cam step 36
assistant
agent noteThe wrist view is filled by the bottle's body with the cap at upper right; I need the jaws around the narrower neck, so I advance ~3 cm along the tool axis and shift ~2 cm toward the neck side.
move_to
left_x0.3920left_y-0.1490left_z0.0320
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.8059, 2.083, 1.2297, -0.7261, -0.9878, -1.5822, 0.898, -0.0204, 0.7387, 0.4911, -0.3511, -0.0238, -0.0284, 0.9998] state[eef_state]: left_x=0.3541 left_y=-0.1508 left_z=0.0298 left_yaw=0.7566 left_pitch=-0.0196 left_roll=0.0111 left_gripper=0.898 right_x=0.2811 right_y=0.0021 right_z=0.149 right_yaw=0.012 right_pitch=-0.0304 right_roll=-0.0028 right_gripper=0.9998 state[joint_eff]: [0.2256, -9.1556, 4.0821, -0.0611, -0.7448, 0.0024, 0.022, -0.4171, -1.3607, 7.2684, 1.9707, -0.0708, 0.0366, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 36): [image omitted: streamed camera frame] camera 'left_cam' (step 36): [image omitted: streamed camera frame] camera 'right_cam' (step 36): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.392, "left_y": -0.149, "left_z": 0.032}, "note": "The wrist view is filled by the bottle's body with the cap at upper right; I need the jaws around the narrower neck, so I advance ~3 cm along the tool axis and shift ~2 cm toward the neck side."})
tool
executing move_to over 3 steps (0.3s)
step 39
top_cam
camera top_cam step 39
left_cam
camera left_cam step 39
right_cam
camera right_cam step 39
assistant
agent noteClosing the jaws partway to about 2.8 cm: if they are around the bottle's neck this will hold it loosely enough to pivot, and the settled reading will tell me whether I am on the neck or on the wide body.
move_to
left_gripper0.3000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.7746, 2.1078, 1.2732, -0.7155, -0.9916, -1.5791, 0.898, -0.0204, 0.7258, 0.4641, -0.3428, -0.0242, -0.0288, 0.9998] state[eef_state]: left_x=0.3684 left_y=-0.1487 left_z=0.031 left_yaw=0.7858 left_pitch=-0.0155 left_roll=-0.0156 left_gripper=0.898 right_x=0.2779 right_y=0.0022 right_z=0.1418 right_yaw=0.0125 right_pitch=-0.0361 right_roll=-0.0027 right_gripper=0.9998 state[joint_eff]: [-0.4171, -9.8667, 5.135, 0.1929, -0.6716, -0.0366, -0.0073, -0.4444, -1.6205, 6.8718, 2.0, -0.0806, 0.0073, -0.0122] camera 'top_cam' (step 39): [image omitted: streamed camera frame] camera 'left_cam' (step 39): [image omitted: streamed camera frame] camera 'right_cam' (step 39): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.3}, "note": "Closing the jaws partway to about 2.8 cm: if they are around the bottle's neck this will hold it loosely enough to pivot, and the settled reading will tell me whether I am on the neck or on the wide body."})
tool
executing move_to over 6 steps (0.6s)
step 45
top_cam
camera top_cam step 45
left_cam
camera left_cam step 45
right_cam
camera right_cam step 45
assistant
agent noteThe partial close stopped at 5 cm on the bottle's wide body, so the jaws are around the body, not the neck; I reopen and slide ~9 cm along the bottle axis toward the cap (forward and to the arm's right) to reach the neck.
move_to
left_gripper0.9200left_x0.4330left_y-0.2120left_z0.0330
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.7746, 2.1078, 1.2728, -0.7151, -0.9997, -1.5787, 0.5254, -0.0212, 0.7055, 0.4316, -0.3244, -0.028, -0.0288, 0.9998] state[eef_state]: left_x=0.3689 left_y=-0.1481 left_z=0.0321 left_yaw=0.7857 left_pitch=-0.0075 left_roll=-0.0152 left_gripper=0.5254 right_x=0.2752 right_y=0.0027 right_z=0.1359 right_yaw=0.015 right_pitch=-0.0299 right_roll=-0.0008 right_gripper=0.9998 state[joint_eff]: [-0.2256, -9.8667, 5.2171, 0.188, -0.6276, -0.0366, 0.8376, -0.3214, -1.347, 6.9538, 1.9853, -0.0366, -0.0171, -0.0122] camera 'top_cam' (step 45): [image omitted: streamed camera frame] camera 'left_cam' (step 45): [image omitted: streamed camera frame] camera 'right_cam' (step 45): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.92, "left_x": 0.433, "left_y": -0.212, "left_z": 0.033}, "note": "The partial close stopped at 5 cm on the bottle's wide body, so the jaws are around the body, not the neck; I reopen and slide ~9 cm along the bottle axis toward the cap (forward and to the arm's right) to reach the neck."})
tool
executing move_to over 6 steps (0.6s)
step 51
top_cam
camera top_cam step 51
left_cam
camera left_cam step 51
right_cam
camera right_cam step 51
assistant
agent noteI have lost track of which bottle the wrist camera is showing; lifting the left arm to 30 cm so the overhead camera shows all three bottles and the gripper clearly before I re-plan the neck grasp.
move_to
left_z0.3000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.7746, 2.4004, 1.7958, -0.9207, -1.0035, -1.5974, 0.8947, -0.0212, 0.6888, 0.4046, -0.3134, -0.0307, -0.0292, 0.9998] state[eef_state]: left_x=0.4339 left_y=-0.2111 left_z=0.0357 left_yaw=0.7957 left_pitch=-0.0038 left_roll=-0.0558 left_gripper=0.8947 right_x=0.2723 right_y=0.0032 right_z=0.1301 right_yaw=0.0174 right_pitch=-0.0291 right_roll=0.0004 right_gripper=0.9998 state[joint_eff]: [-0.4171, -12.0957, 5.7504, -0.2711, -0.6813, 0.0806, -0.1783, -0.3761, -1.0051, 6.8718, 1.9267, -0.0366, -0.0122, -0.0122] approver: 6 step(s) modified (delta_clamped ×6). camera 'top_cam' (step 51): [image omitted: streamed camera frame] camera 'left_cam' (step 51): [image omitted: streamed camera frame] camera 'right_cam' (step 51): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.3}, "note": "I have lost track of which bottle the wrist camera is showing; lifting the left arm to 30 cm so the overhead camera shows all three bottles and the gripper clearly before I re-plan the neck grasp."})
tool
executing move_to over 18 steps (1.8s)
step 69
top_cam
camera top_cam step 69
left_cam
camera left_cam step 69
right_cam
camera right_cam step 69
assistant
agent noteOverhead view shows the three bottles clustered ahead of the left arm, caps pointing forward-right; the wrist view has the nearest bottle's cap just right of the jaw column. Shifting ~3.5 cm to the tool's right and descending to 10 cm to line the jaws up on its neck.
move_to
left_x0.4120left_y-0.1980left_z0.1000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.7059, 2.2574, 2.3585, -1.5532, -0.9989, -1.4799, 0.896, -0.0212, 0.672, 0.3786, -0.2981, -0.0303, -0.033, 0.9998] state[eef_state]: left_x=0.437 left_y=-0.1726 left_z=0.2363 left_yaw=0.801 left_pitch=-0.004 left_roll=-0.03 left_gripper=0.896 right_x=0.2703 right_y=0.0032 right_z=0.1256 right_yaw=0.0191 right_pitch=-0.023 right_roll=-0.0032 right_gripper=0.9998 state[joint_eff]: [0.6085, -14.9949, 6.0786, 0.2466, -0.6374, 0.3932, 0.1197, -0.1436, -0.841, 7.0085, 1.9023, -0.0464, -0.022, -0.0122] camera 'top_cam' (step 69): [image omitted: streamed camera frame] camera 'left_cam' (step 69): [image omitted: streamed camera frame] camera 'right_cam' (step 69): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.412, "left_y": -0.198, "left_z": 0.1}, "note": "Overhead view shows the three bottles clustered ahead of the left arm, caps pointing forward-right; the wrist view has the nearest bottle's cap just right of the jaw column. Shifting ~3.5 cm to the tool's right and descending to 10 cm to line the jaws up on its neck."})
tool
executing move_to over 9 steps (0.9s)
step 78
top_cam
camera top_cam step 78
left_cam
camera left_cam step 78
right_cam
camera right_cam step 78
assistant
agent noteWrist view shows the bottle's neck just above and ~3 cm right of the jaw column; descending to neck height (3.5 cm) with a small shift toward it so the open jaws land astride the neck.
move_to
left_x0.3940left_y-0.2100left_z0.0350
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.7788, 2.2559, 1.853, -1.2152, -1.0012, -1.6077, 0.8962, -0.0212, 0.6598, 0.358, -0.2905, -0.0307, -0.0326, 0.9998] state[eef_state]: left_x=0.4116 left_y=-0.1921 left_z=0.1106 left_yaw=0.7975 left_pitch=-0.0059 left_roll=0.0283 left_gripper=0.8962 right_x=0.2681 right_y=0.0033 right_z=0.1208 right_yaw=0.0193 right_pitch=-0.0238 right_roll=-0.0027 right_gripper=0.9998 state[joint_eff]: [-0.7043, -10.7419, 5.5316, 0.2857, -0.5739, -0.1587, 0.0122, -0.4171, -0.9231, 7.1316, 1.9316, -0.0806, -0.022, -0.0073] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 78): [image omitted: streamed camera frame] camera 'left_cam' (step 78): [image omitted: streamed camera frame] camera 'right_cam' (step 78): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.394, "left_y": -0.21, "left_z": 0.035}, "note": "Wrist view shows the bottle's neck just above and ~3 cm right of the jaw column; descending to neck height (3.5 cm) with a small shift toward it so the open jaws land astride the neck."})
tool
executing move_to over 5 steps (0.5s)
step 83
top_cam
camera top_cam step 83
left_cam
camera left_cam step 83
right_cam
camera right_cam step 83
assistant
agent noteThe bottles' caps point forward-right, i.e. away from the left arm and toward the right arm, so the left arm only ever reaches the base end. I park the left arm home and bring the right arm over the cap end of the nearest bottle, tool yawed 45° so the jaws straddle the neck.
move_to
left_x0.2500left_y0.0000left_z0.2500left_yaw0.0000left_gripper0.9000right_x0.4500right_y0.3300right_z0.1500right_yaw0.7850right_gripper0.9000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.8322, 2.3238, 1.7275, -1.0573, -1.0225, -1.6989, 0.8963, -0.0212, 0.6476, 0.337, -0.2901, -0.0307, -0.0326, 0.9998] state[eef_state]: left_x=0.3991 left_y=-0.2091 left_z=0.0553 left_yaw=0.7912 left_pitch=0.0173 left_roll=-0.0143 left_gripper=0.8963 right_x=0.2648 right_y=0.0034 right_z=0.1143 right_yaw=0.0193 right_pitch=-0.0322 right_roll=-0.0023 right_gripper=0.9998 state[joint_eff]: [-0.6085, -9.5385, 4.0274, -0.0415, -0.1148, 0.1783, -0.0024, -0.4171, -0.9368, 6.8991, 1.9951, -0.0611, 0.0269, -0.0122] camera 'top_cam' (step 83): [image omitted: streamed camera frame] camera 'left_cam' (step 83): [image omitted: streamed camera frame] camera 'right_cam' (step 83): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.25, "left_y": 0.0, "left_z": 0.25, "left_yaw": 0.0, "left_gripper": 0.9, "right_x": 0.45, "right_y": 0.33, "right_z": 0.15, "right_yaw": 0.785, "right_gripper": 0.9}, "note": "The bottles' caps point forward-right, i.e. away from the left arm and toward the right arm, so the left arm only ever reaches the base end. I park the left arm home and bring the right arm over the cap end of the nearest bottle, tool yawed 45\u00b0 so the jaws straddle the neck."})
tool
executing move_to over 28 steps (2.8s)
step 111
top_cam
camera top_cam step 111
left_cam
camera left_cam step 111
right_cam
camera right_cam step 111
assistant
agent noteThe right wrist view has a bottle (red label, cap end) at the bottom-right edge, well right of the jaw column; sliding the right arm ~7 cm toward it (tool-right) and lowering slightly to bring it under the jaws.
move_to
right_x0.3900right_y0.2700right_z0.1200
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0826, 0.6769, 0.8192, -0.7322, -0.1665, -0.1455, 0.8984, 0.5709, 1.9053, 1.322, -0.0376, -0.1646, -0.1268, 0.9009] state[eef_state]: left_x=0.2532 left_y=0.012 left_z=0.2358 left_yaw=0.1211 left_pitch=-0.0172 left_roll=-0.0173 left_gripper=0.8984 right_x=0.4394 right_y=0.3208 right_z=0.1345 right_yaw=0.7748 right_pitch=-0.0431 right_roll=-0.0011 right_gripper=0.9009 state[joint_eff]: [-0.2256, -0.2803, 9.4154, 1.8291, -0.0513, 0.3101, -0.1783, -0.2667, -10.0171, 9.2376, 1.7607, -0.0708, 0.0659, 0.0757] camera 'top_cam' (step 111): [image omitted: streamed camera frame] camera 'left_cam' (step 111): [image omitted: streamed camera frame] camera 'right_cam' (step 111): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.39, "right_y": 0.27, "right_z": 0.12}, "note": "The right wrist view has a bottle (red label, cap end) at the bottom-right edge, well right of the jaw column; sliding the right arm ~7 cm toward it (tool-right) and lowering slightly to bring it under the jaws."})
tool
executing move_to over 5 steps (0.5s)
step 116
top_cam
camera top_cam step 116
left_cam
camera left_cam step 116
right_cam
camera right_cam step 116
assistant
agent noteIn the right wrist view this bottle's axis leans the opposite way to what I assumed, so I rotate the tool back to about 0 rad, which should make the bottle appear vertical in the image and put the jaws perpendicular to its axis.
move_to
right_yaw-0.1000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1017, 0.6674, 0.8055, -0.7364, -0.1757, -0.1345, 0.8981, 0.5247, 1.7363, 0.9562, 0.0925, -0.1932, -0.1406, 0.901] state[eef_state]: left_x=0.251 left_y=0.009 left_z=0.2313 left_yaw=0.1039 left_pitch=-0.0244 left_roll=-0.0014 left_gripper=0.8981 right_x=0.3863 right_y=0.267 right_z=0.0884 right_yaw=0.7611 right_pitch=-0.1044 right_roll=0.0195 right_gripper=0.901 state[joint_eff]: [-0.0479, 0.0205, 6.4889, 1.9609, -0.2466, -0.105, -0.0366, -0.4171, -10.8786, 7.3368, 2.2442, -0.2027, -0.1001, -0.0024] camera 'top_cam' (step 116): [image omitted: streamed camera frame] camera 'left_cam' (step 116): [image omitted: streamed camera frame] camera 'right_cam' (step 116): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_yaw": -0.1}, "note": "In the right wrist view this bottle's axis leans the opposite way to what I assumed, so I rotate the tool back to about 0 rad, which should make the bottle appear vertical in the image and put the jaws perpendicular to its axis."})
tool
executing move_to over 6 steps (0.6s)
step 122
top_cam
camera top_cam step 122
left_cam
camera left_cam step 122
right_cam
camera right_cam step 122
assistant
agent noteBoth bottles now appear axis-vertical in the right wrist view with caps far forward, out of reach at table level. Plan: grip this bottle across its body, lift and yaw it 90° so its cap end swings into reach. First I advance 4 cm and drop to body height.
move_to
right_x0.4200right_y0.2950right_z0.0350
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1055, 0.6529, 0.7849, -0.7307, -0.1841, -0.1345, 0.8981, 0.8478, 1.8713, 1.0645, 0.0254, 0.5716, 0.4557, 0.9011] state[eef_state]: left_x=0.2492 left_y=0.0097 left_z=0.2269 left_yaw=0.1071 left_pitch=-0.0238 left_roll=0.0033 left_gripper=0.8981 right_x=0.3775 right_y=0.2888 right_z=0.0749 right_yaw=0.1285 right_pitch=-0.066 right_roll=-0.0227 right_gripper=0.9011 state[joint_eff]: [-0.3761, -0.3761, 6.2974, 1.873, -0.1001, -0.0366, -0.0122, 0.1299, -9.3333, 7.5556, 1.37, 0.4762, 0.1832, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 122): [image omitted: streamed camera frame] camera 'left_cam' (step 122): [image omitted: streamed camera frame] camera 'right_cam' (step 122): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.42, "right_y": 0.295, "right_z": 0.035}, "note": "Both bottles now appear axis-vertical in the right wrist view with caps far forward, out of reach at table level. Plan: grip this bottle across its body, lift and yaw it 90\u00b0 so its cap end swings into reach. First I advance 4 cm and drop to body height."})
tool
executing move_to over 4 steps (0.4s)
step 126
top_cam
camera top_cam step 126
left_cam
camera left_cam step 126
right_cam
camera right_cam step 126
assistant
agent noteThe bottle is centred on the jaw column at body height; closing the jaws firmly on its body so I can lift and rotate it.
move_to
right_gripper0.3500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1055, 0.6346, 0.7654, -0.7231, -0.1841, -0.1345, 0.8981, 0.7898, 2.0422, 1.0641, 0.2054, 0.5797, 0.4152, 0.9011] state[eef_state]: left_x=0.2473 left_y=0.0099 left_z=0.2241 left_yaw=0.1071 left_pitch=-0.0175 left_roll=0.002 left_gripper=0.8981 right_x=0.4059 right_y=0.2772 right_z=0.0256 right_yaw=0.0867 right_pitch=-0.0566 right_roll=-0.054 right_gripper=0.9011 state[joint_eff]: [-0.4308, 0.2667, 6.2701, 1.8974, -0.105, -0.0269, -0.0122, -0.2393, -9.5385, 7.8701, 1.6532, 0.1734, 0.1685, -0.0171] camera 'top_cam' (step 126): [image omitted: streamed camera frame] camera 'left_cam' (step 126): [image omitted: streamed camera frame] camera 'right_cam' (step 126): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.35}, "note": "The bottle is centred on the jaw column at body height; closing the jaws firmly on its body so I can lift and rotate it."})
tool
executing move_to over 6 steps (0.6s)
step 132
top_cam
camera top_cam step 132
left_cam
camera left_cam step 132
right_cam
camera right_cam step 132
assistant
agent noteThe jaws settled at 5.3 cm with grip effort, so the bottle's body is held. Lifting it 14 cm and yawing the tool 90° to swing the bottle's cap end from 'far forward' round to the arm's left, where I can reach the neck.
move_to
right_z0.1400right_yaw1.5700
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1055, 0.6224, 0.7513, -0.7151, -0.1844, -0.1345, 0.8981, 0.7849, 2.064, 1.0687, 0.2577, 0.5262, 0.3752, 0.5592] state[eef_state]: left_x=0.2464 left_y=0.0101 left_z=0.2223 left_yaw=0.1074 left_pitch=-0.0115 left_roll=0.0009 left_gripper=0.8981 right_x=0.4094 right_y=0.2887 right_z=0.022 right_yaw=0.145 right_pitch=-0.0529 right_roll=-0.036 right_gripper=0.5592 state[joint_eff]: [-0.4308, 0.1573, 6.5436, 1.8046, -0.1294, -0.0562, -0.0122, -0.4991, -9.9624, 7.3094, 1.9414, 0.2808, 0.0562, 0.862] camera 'top_cam' (step 132): [image omitted: streamed camera frame] camera 'left_cam' (step 132): [image omitted: streamed camera frame] camera 'right_cam' (step 132): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.14, "right_yaw": 1.57}, "note": "The jaws settled at 5.3 cm with grip effort, so the bottle's body is held. Lifting it 14 cm and yawing the tool 90\u00b0 to swing the bottle's cap end from 'far forward' round to the arm's left, where I can reach the neck."})
tool
executing move_to over 10 steps (1.0s)
step 142
top_cam
camera top_cam step 142
left_cam
camera left_cam step 142
right_cam
camera right_cam step 142
assistant
agent noteThe 90° yaw was tracked poorly by the IK, so instead I keep the bottle pointing forward and carry it ~10 cm back toward the base; that alone brings its cap end into comfortable reach for the neck grasp.
move_to
right_x0.3000right_y0.2800right_z0.1000right_yaw0.1000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1051, 0.6155, 0.7448, -0.7151, -0.1844, -0.1345, 0.8981, 0.2848, 2.0636, 1.5558, -0.4335, -0.1661, -0.3847, 0.5636] state[eef_state]: left_x=0.2453 left_y=0.0103 left_z=0.2209 left_yaw=0.1078 left_pitch=-0.0111 left_roll=0.0008 left_gripper=0.8981 right_x=0.5014 right_y=0.1809 right_z=0.0806 right_yaw=0.6515 right_pitch=-0.3587 right_roll=-0.0976 right_gripper=0.5636 state[joint_eff]: [-0.1436, 0.3897, 6.2154, 1.8535, -0.1343, -0.0269, -0.0122, 2.3726, -11.7812, 8.7453, 1.326, -0.442, 0.0904, 0.4518] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 142): [image omitted: streamed camera frame] camera 'left_cam' (step 142): [image omitted: streamed camera frame] camera 'right_cam' (step 142): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.3, "right_y": 0.28, "right_z": 0.1, "right_yaw": 0.1}, "note": "The 90\u00b0 yaw was tracked poorly by the IK, so instead I keep the bottle pointing forward and carry it ~10 cm back toward the base; that alone brings its cap end into comfortable reach for the neck grasp."})
tool
executing move_to over 16 steps (1.6s)
step 158
top_cam
camera top_cam step 158
left_cam
camera left_cam step 158
right_cam
camera right_cam step 158
assistant
agent noteThe bottle is now held pointing forward, closer to the base. Lowering it to the table and opening the jaws to release, so I can re-grasp it loosely by the neck.
move_to
right_z0.0200right_gripper0.9000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1055, 0.6094, 0.7441, -0.7143, -0.1844, -0.1345, 0.8981, 1.0172, 1.6783, 0.8185, -0.0425, 0.6254, 0.524, 0.5678] state[eef_state]: left_x=0.2448 left_y=0.0103 left_z=0.2221 left_yaw=0.1074 left_pitch=-0.0051 left_roll=-0.0005 left_gripper=0.8981 right_x=0.2878 right_y=0.2758 right_z=0.0607 right_yaw=0.2143 right_pitch=-0.1239 right_roll=-0.0816 right_gripper=0.5678 state[joint_eff]: [-0.4444, 0.0615, 5.8872, 1.8291, -0.1343, -0.0269, -0.0122, 0.1299, -9.3333, 10.0581, 1.9121, 0.6862, 0.0659, 0.4322] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 158): [image omitted: streamed camera frame] camera 'left_cam' (step 158): [image omitted: streamed camera frame] camera 'right_cam' (step 158): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.02, "right_gripper": 0.9}, "note": "The bottle is now held pointing forward, closer to the base. Lowering it to the table and opening the jaws to release, so I can re-grasp it loosely by the neck."})
tool
executing move_to over 4 steps (0.4s)
step 162
top_cam
camera top_cam step 162
left_cam
camera left_cam step 162
right_cam
camera right_cam step 162
assistant
agent noteBottle released lying forward with its cap end now within reach. Moving the open jaws to just above where its neck should be (~11 cm forward of the release point) to check alignment in the wrist view.
move_to
right_x0.3700right_y0.2750right_z0.0500right_gripper0.9000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1055, 0.609, 0.7441, -0.7151, -0.1844, -0.1345, 0.8981, 1.0321, 1.8065, 0.6228, 0.2977, 0.6643, 0.5262, 0.8964] state[eef_state]: left_x=0.2446 left_y=0.0103 left_z=0.2221 left_yaw=0.1074 left_pitch=-0.0055 left_roll=-0.0004 left_gripper=0.8981 right_x=0.2761 right_y=0.2567 right_z=0.0026 right_yaw=0.2027 right_pitch=-0.0905 right_roll=-0.0887 right_gripper=0.8964 state[joint_eff]: [-0.4444, 0.253, 6.188, 1.7607, -0.1148, -0.0073, -0.0122, -0.1162, -7.0632, 5.094, 1.6288, 0.2662, -0.0806, -0.1001] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 162): [image omitted: streamed camera frame] camera 'left_cam' (step 162): [image omitted: streamed camera frame] camera 'right_cam' (step 162): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.37, "right_y": 0.275, "right_z": 0.05, "right_gripper": 0.9}, "note": "Bottle released lying forward with its cap end now within reach. Moving the open jaws to just above where its neck should be (~11 cm forward of the release point) to check alignment in the wrist view."})
tool
executing move_to over 8 steps (0.8s)
step 170
top_cam
camera top_cam step 170
left_cam
camera left_cam step 170
right_cam
camera right_cam step 170
assistant
agent noteWrist view shows the bottle centred with its cap still ~6-8 cm ahead of the jaws; sliding forward 6 cm along the bottle axis to bring the neck between the jaws.
move_to
right_x0.4180right_y0.2830
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1055, 0.609, 0.7441, -0.7155, -0.1841, -0.1345, 0.8981, 0.8352, 1.8473, 0.8082, 0.3588, 0.519, 0.3676, 0.9002] state[eef_state]: left_x=0.2446 left_y=0.0102 left_z=0.222 left_yaw=0.1071 left_pitch=-0.0059 left_roll=-0.0005 left_gripper=0.8981 right_x=0.3588 right_y=0.2712 right_z=0.0448 right_yaw=0.2061 right_pitch=-0.0097 right_roll=-0.0045 right_gripper=0.9002 state[joint_eff]: [-0.2667, 0.0615, 6.1607, 1.7509, -0.1245, -0.0611, -0.0122, -0.8137, -7.0632, 7.4051, 1.5995, 0.2222, -0.0317, 0.0073] camera 'top_cam' (step 170): [image omitted: streamed camera frame] camera 'left_cam' (step 170): [image omitted: streamed camera frame] camera 'right_cam' (step 170): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.418, "right_y": 0.283}, "note": "Wrist view shows the bottle centred with its cap still ~6-8 cm ahead of the jaws; sliding forward 6 cm along the bottle axis to bring the neck between the jaws."})
tool
executing move_to over 5 steps (0.5s)
step 175
top_cam
camera top_cam step 175
left_cam
camera left_cam step 175
right_cam
camera right_cam step 175
assistant
agent noteCloser now: the cap sits just ahead of the jaws in the wrist view; advancing a final 3.5 cm so the open jaws straddle the narrow neck just below the cap.
move_to
right_x0.4380right_y0.2910
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1055, 0.6083, 0.7441, -0.7155, -0.1841, -0.1345, 0.8981, 0.7559, 1.9697, 0.9737, 0.3321, 0.4484, 0.3008, 0.9006] state[eef_state]: left_x=0.2445 left_y=0.0102 left_z=0.2221 left_yaw=0.1071 left_pitch=-0.0052 left_roll=-0.0007 left_gripper=0.8981 right_x=0.4043 right_y=0.2808 right_z=0.0411 right_yaw=0.2186 right_pitch=-0.0207 right_roll=-0.0146 right_gripper=0.9006 state[joint_eff]: [-0.4308, 0.0342, 6.2291, 1.7753, -0.1197, -0.0415, -0.0171, -1.0462, -8.4444, 7.3778, 1.7021, 0.1832, 0.0415, 0.0269] camera 'top_cam' (step 175): [image omitted: streamed camera frame] camera 'left_cam' (step 175): [image omitted: streamed camera frame] camera 'right_cam' (step 175): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.438, "right_y": 0.291}, "note": "Closer now: the cap sits just ahead of the jaws in the wrist view; advancing a final 3.5 cm so the open jaws straddle the narrow neck just below the cap."})
tool
executing move_to over 3 steps (0.3s)
step 178
top_cam
camera top_cam step 178
left_cam
camera left_cam step 178
right_cam
camera right_cam step 178
assistant
agent noteThe jaws are around the bottle's shoulder/neck region and the arm stopped short (contact), so I close to ~2.7 cm: too narrow for the shoulder to slip through but loose enough that the bottle can swing vertical when I lift.
move_to
right_gripper0.2800
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1055, 0.6083, 0.7441, -0.7151, -0.1844, -0.1345, 0.8981, 0.7456, 1.9827, 0.9897, 0.3359, 0.44, 0.2893, 0.9006] state[eef_state]: left_x=0.2445 left_y=0.0103 left_z=0.2222 left_yaw=0.1074 left_pitch=-0.0047 left_roll=-0.0006 left_gripper=0.8981 right_x=0.41 right_y=0.2811 right_z=0.0412 right_yaw=0.2213 right_pitch=-0.0175 right_roll=-0.0162 right_gripper=0.9006 state[joint_eff]: [-0.2667, 0.0615, 6.3795, 1.8193, -0.1294, -0.0464, -0.0122, -0.8821, -8.7453, 7.5145, 1.6874, 0.149, 0.0269, -0.0073] camera 'top_cam' (step 178): [image omitted: streamed camera frame] camera 'left_cam' (step 178): [image omitted: streamed camera frame] camera 'right_cam' (step 178): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.28}, "note": "The jaws are around the bottle's shoulder/neck region and the arm stopped short (contact), so I close to ~2.7 cm: too narrow for the shoulder to slip through but loose enough that the bottle can swing vertical when I lift."})
tool
executing move_to over 7 steps (0.7s)
step 185
top_cam
camera top_cam step 185
left_cam
camera left_cam step 185
right_cam
camera right_cam step 185
assistant
agent noteJaws settled at 4.3 cm on the bottle's tapered shoulder. Lifting to 32 cm: the loose grip should let the bottle swing down into a cap-up vertical hang.
move_to
right_z0.3200
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1055, 0.6083, 0.7441, -0.7147, -0.1844, -0.1345, 0.8981, 0.7456, 1.9831, 0.9962, 0.3405, 0.4366, 0.2825, 0.4529] state[eef_state]: left_x=0.2446 left_y=0.0103 left_z=0.2223 left_yaw=0.1074 left_pitch=-0.0044 left_roll=-0.0006 left_gripper=0.8981 right_x=0.4117 right_y=0.2834 right_z=0.0441 right_yaw=0.2278 right_pitch=-0.0093 right_roll=-0.0148 right_gripper=0.4529 state[joint_eff]: [-0.3077, 0.1162, 6.2017, 1.7705, -0.1197, -0.0659, -0.0122, -0.9094, -8.5812, 7.0906, 1.6728, 0.2173, 0.1148, 0.7009] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 185): [image omitted: streamed camera frame] camera 'left_cam' (step 185): [image omitted: streamed camera frame] camera 'right_cam' (step 185): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.32}, "note": "Jaws settled at 4.3 cm on the bottle's tapered shoulder. Lifting to 32 cm: the loose grip should let the bottle swing down into a cap-up vertical hang."})
tool
executing move_to over 18 steps (1.8s)
step 203
assistant
agent noteThe bottle is now hanging cap-up vertically in the jaws exactly as hoped. Lowering to ~20 cm so its base touches the table before I release.
move_to
right_z0.2000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1055, 0.6083, 0.7441, -0.7155, -0.1844, -0.1345, 0.8981, 0.7456, 1.755, 1.8076, -0.7017, 0.4145, 0.2714, 0.4519] state[eef_state]: left_x=0.2445 left_y=0.0103 left_z=0.2221 left_yaw=0.1074 left_pitch=-0.0051 left_roll=-0.0005 left_gripper=0.8981 right_x=0.4092 right_y=0.2859 right_z=0.3044 right_yaw=0.2515 right_pitch=-0.0182 right_roll=-0.0136 right_gripper=0.4519 state[joint_eff]: [-0.4444, 0.1436, 6.2427, 1.8095, -0.1392, -0.0464, -0.0122, -0.5265, -7.6239, 9.4017, 1.6825, 0.2906, 0.1832, -0.1148] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 203): [image omitted: streamed camera frame] camera 'left_cam' (step 203): [image omitted: streamed camera frame] camera 'right_cam' (step 203): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.2}, "note": "The bottle is now hanging cap-up vertically in the jaws exactly as hoped. Lowering to ~20 cm so its base touches the table before I release."})
tool
executing move_to over 7 steps (0.7s)
step 210
assistant
agent noteLowering further until the bottle's base rests on the table (descents stop at contact), before opening the jaws.
move_to
right_z0.1600
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1055, 0.6083, 0.7441, -0.7151, -0.1844, -0.1345, 0.8981, 0.7456, 1.7187, 1.3453, -0.3382, 0.4137, 0.2745, 0.4518] state[eef_state]: left_x=0.2445 left_y=0.0103 left_z=0.2222 left_yaw=0.1074 left_pitch=-0.0047 left_roll=-0.0006 left_gripper=0.8981 right_x=0.4018 right_y=0.2792 right_z=0.1883 right_yaw=0.2491 right_pitch=-0.0735 right_roll=-0.0405 right_gripper=0.4518 state[joint_eff]: [-0.335, 0.3624, 6.3111, 1.7998, -0.149, -0.0269, -0.0122, -0.1709, -9.2923, 6.9812, 2.0488, 0.0855, -0.0757, -0.022] camera 'top_cam' (step 210): [image omitted: streamed camera frame] camera 'left_cam' (step 210): [image omitted: streamed camera frame] camera 'right_cam' (step 210): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.16}, "note": "Lowering further until the bottle's base rests on the table (descents stop at contact), before opening the jaws."})
tool
executing move_to over 2 steps (0.2s)
step 212
assistant
agent noteBottle base is on the table; opening the jaws to release it standing upright.
move_to
right_gripper0.9500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1055, 0.6083, 0.7441, -0.7151, -0.1844, -0.1345, 0.8981, 0.746, 1.7054, 1.2152, -0.1719, 0.4107, 0.2638, 0.4518] state[eef_state]: left_x=0.2445 left_y=0.0103 left_z=0.2222 left_yaw=0.1074 left_pitch=-0.0047 left_roll=-0.0006 left_gripper=0.8981 right_x=0.4001 right_y=0.2786 right_z=0.1687 right_yaw=0.2589 right_pitch=-0.0308 right_roll=-0.024 right_gripper=0.4518 state[joint_eff]: [-0.3214, 0.2667, 6.2154, 1.8144, -0.1197, -0.0513, -0.0122, -0.3077, -8.294, 7.0085, 1.9072, 0.1099, 0.0708, -0.0122] camera 'top_cam' (step 212): [image omitted: streamed camera frame] camera 'left_cam' (step 212): [image omitted: streamed camera frame] camera 'right_cam' (step 212): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.95}, "note": "Bottle base is on the table; opening the jaws to release it standing upright."})
tool
executing move_to over 5 steps (0.5s)
step 217
assistant
agent noteThe first bottle is now standing upright; backing the right arm up and away so it doesn't knock it over, and to clear the overhead view.
move_to
right_x0.3000right_z0.3000right_y0.1500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1055, 0.6075, 0.7441, -0.7155, -0.1844, -0.1345, 0.8981, 0.746, 1.721, 1.1469, -0.1257, 0.4099, 0.2615, 0.9458] state[eef_state]: left_x=0.2444 left_y=0.0103 left_z=0.2223 left_yaw=0.1074 left_pitch=-0.0044 left_roll=-0.0006 left_gripper=0.8981 right_x=0.3945 right_y=0.2736 right_z=0.141 right_yaw=0.2599 right_pitch=-0.0645 right_roll=-0.0432 right_gripper=0.9458 state[joint_eff]: [-0.4718, 0.1299, 6.2017, 1.8095, -0.1392, -0.0659, -0.0171, -0.3624, -9.5932, 7.8291, 2.0391, 0.1636, 0.105, -0.0952] camera 'top_cam' (step 217): [image omitted: streamed camera frame] camera 'left_cam' (step 217): [image omitted: streamed camera frame] camera 'right_cam' (step 217): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.3, "right_z": 0.3, "right_y": 0.15}, "note": "The first bottle is now standing upright; backing the right arm up and away so it doesn't knock it over, and to clear the overhead view."})
tool
executing move_to over 11 steps (1.1s)
step 228
assistant
agent noteI stood one of the three bottles upright (visible standing in the right wrist view); the other two remain lying on the table — I ran out of call budget after the long process of working out the geometry for the first one. Method that worked: since pitch/roll are pinned, you cannot tilt a bottle with the wrist. Instead, close the jaws loosely (~4.3 cm) around the bottle's tapered shoulder just below the cap while it lies on the table, then lift to z≈0.32: the bottle swings itself cap-up vertical inside the loose jaws. Lower until the base contacts (z≈0.17 for a 0.5 L bottle gripped at the shoulder), open, retract.
done
hindsightKey facts for a repeat of this task: 1) Pitch and roll are pinned, so the ONLY way to stand a lying bottle is the "loose neck/shoulder grip + lift and let it swing" trick. Grip the taper just below the cap, command gripper ~0.28 (it settles ~0.45 = 4.3 cm on the shoulder, too narrow for the 6.4 cm body to pass), lift to 0.3 m, and it hangs cap-up. Grasp point to base ≈ 0.20 m, so release at z≈0.17. 2) If the bottle's cap end points away from the arm it may be out of table-level reach (x>0.5). Fix: grip the body firmly (close command 0.35, settles ~0.56), lift, carry the whole bottle ~10 cm back toward the base, set it down, then grab the neck. Large yaw (90°) commands while holding are tracked very poorly by the IK and threw the grasp point 10 cm off — avoid them; translate instead. 3) Wrist-image orientation rule verified: increasing yaw rotates the wrist image clockwise by the same angle. Yaw the tool until the bottle appears axis-vertical in its wrist image; then the jaws are perpendicular to the bottle. 4) Horizontal wrist scale at z≈0.15, mid-frame: a 6 cm sideways arm move shifted the image ~40 px (≈6.7 px/cm). Vertical image position is dominated by radial distance; a 7 cm descent brings features down by roughly 100 px. 5) The top camera was nearly useless for disambiguating which bottle was under the gripper; servo from the wrist view and use the readback.
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1055, 0.606, 0.7441, -0.7155, -0.1844, -0.1345, 0.8981, 0.6144, 1.071, 1.1927, -0.6075, 0.3088, 0.1879, 0.9459] state[eef_state]: left_x=0.2442 left_y=0.0103 left_z=0.2227 left_yaw=0.1074 left_pitch=-0.0029 left_roll=-0.001 left_gripper=0.8981 right_x=0.307 right_y=0.1553 right_z=0.3219 right_yaw=0.2496 right_pitch=0.1069 right_roll=0.0336 right_gripper=0.9459 state[joint_eff]: [-0.3214, 0.6496, 6.2427, 1.7802, -0.1538, -0.0659, -0.0171, -0.2393, -0.9915, 7.0632, 1.5018, -0.0464, 0.0513, -0.0024] camera 'top_cam' (step 228): [image omitted: streamed camera frame] camera 'left_cam' (step 228): [image omitted: streamed camera frame] camera 'right_cam' (step 228): [image omitted: streamed camera frame]
assistant
done({"summary": "I stood one of the three bottles upright (visible standing in the right wrist view); the other two remain lying on the table \u2014 I ran out of call budget after the long process of working out the geometry for the first one. Method that worked: since pitch/roll are pinned, you cannot tilt a bottle with the wrist. Instead, close the jaws loosely (~4.3 cm) around the bottle's tapered shoulder just below the cap while it lies on the table, then lift to z\u22480.32: the bottle swings itself cap-up vertical inside the loose jaws. Lower until the base contacts (z\u22480.17 for a 0.5 L bottle gripped at the shoulder), open, retract.", "hindsight": "Key facts for a repeat of this task:\n1) Pitch and roll are pinned, so the ONLY way to stand a lying bottle is the \"loose neck/shoulder grip + lift and let it swing\" trick. Grip the taper just below the cap, command gripper ~0.28 (it settles ~0.45 = 4.3 cm on the shoulder, too narrow for the 6.4 cm body to pass), lift to 0.3 m, and it hangs cap-up. Grasp point to base \u2248 0.20 m, so release at z\u22480.17.\n2) If the bottle's cap end points away from the arm it may be out of table-level reach (x>0.5). Fix: grip the body firmly (close command 0.35, settles ~0.56), lift, carry the whole bottle ~10 cm back toward the base, set it down, then grab the neck. Large yaw (90\u00b0) commands while holding are tracked very poorly by the IK and threw the grasp point 10 cm off \u2014 avoid them; translate instead.\n3) Wrist-image orientation rule verified: increasing yaw rotates the wrist image clockwise by the same angle. Yaw the tool until the bottle appears axis-vertical in its wrist image; then the jaws are perpendicular to the bottle.\n4) Horizontal wrist scale at z\u22480.15, mid-frame: a 6 cm sideways arm move shifted the image ~40 px (\u22486.7 px/cm). Vertical image position is dominated by radial distance; a 7 cm descent brings features down by roughly 100 px.\n5) The top camera was nearly useless for disambiguating which bottle was under the gripper; servo from the wrist view and use the readback."})
tool
done: I stood one of the three bottles upright (visible standing in the right wrist view); the other two remain lying on the table — I ran out of call budget after the long process of working out the geometry for the first one. Method that worked: since pitch/roll are pinned, you cannot tilt a bottle with the wrist. Instead, close the jaws loosely (~4.3 cm) around the bottle's tapered shoulder just below the cap while it lies on the table, then lift to z≈0.32: the bottle swings itself cap-up vertical inside the loose jaws. Lower until the base contacts (z≈0.17 for a 0.5 L bottle gripped at the shoulder), open, retract.
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [0, 0], left_roll: [0, 0], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [0, 0], right_roll: [0, 0], right_gripper: [0, 1].",
    "input_schema": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "name": "move_to"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "input_schema": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "name": "done"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "input_schema": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "name": "give_up"
  }
]
System (trial initial)
[
  {
    "cache_control": {
      "type": "ephemeral"
    },
    "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
    "type": "text"
  }
]
call 0 attempt 0 · /messages · status 200 · 41.67 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3
{
  "content": "Goal: Stand all three bottles upright.",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7933, 0.6071, -0.3775, -0.0231, -0.0288, 0.9986, -0.0181, 0.7891, 0.6037, -0.3832, -0.0135, -0.0174, 0.9998]\nstate[eef_state]: left_x=0.2954 left_y=0.0017 left_z=0.1821 left_yaw=0.0003 left_pitch=0.0 left_roll=0.0002 left_gripper=0.9986 right_x=0.294 right_y=0.0007 right_z=0.1805 right_yaw=-0.0004 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.3214, -1.4291, 9.7846, 1.8193, -0.0024, 0.1294, -0.1587, -0.6085, -1.1145, 10.4684, 1.8632, -0.1294, 0.0269, -0.0317]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:69fd16f12845644b7a79f650ff9249a9258478def64d1af43bfd1769ee4ca715",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:852ef703e09bc6a5fe512472036b8b32f61bb08e753b01d7c56afade831313f6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1abaa4509c952d7d796eccc251a416e959d0954cf0e28540e602be287432a4b8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /messages · status 200 · 26.64 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7933, 0.6071, -0.3775, -0.0231, -0.0288, 0.9986, -0.0181, 0.7891, 0.6037, -0.3832, -0.0135, -0.0174, 0.9998]\nstate[eef_state]: left_x=0.2954 left_y=0.0017 left_z=0.1821 left_yaw=0.0003 left_pitch=0.0 left_roll=0.0002 left_gripper=0.9986 right_x=0.294 right_y=0.0007 right_z=0.1805 right_yaw=-0.0004 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.3214, -1.4291, 9.7846, 1.8193, -0.0024, 0.1294, -0.1587, -0.6085, -1.1145, 10.4684, 1.8632, -0.1294, 0.0269, -0.0317]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:69fd16f12845644b7a79f650ff9249a9258478def64d1af43bfd1769ee4ca715",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:852ef703e09bc6a5fe512472036b8b32f61bb08e753b01d7c56afade831313f6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1abaa4509c952d7d796eccc251a416e959d0954cf0e28540e602be287432a4b8",
        "media_type": "image/png",
        "type": "base64"
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      "type": "image"
    }
  ],
  "role": "user"
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015qUVqSbLpxiRqPfgntETF9",
      "input": {
        "note": "Three bottles lie on their sides in the middle of the table, caps pointing toward the lower-left in the top view. I'm moving the left arm to hover ~20 cm above the nearest (left-most) bottle's cap end to line up a grasp on its neck.",
        "targets": {
          "left_gripper": 0.6,
          "left_x": 0.27,
          "left_y": -0.14,
          "left_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_015qUVqSbLpxiRqPfgntETF9",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8661, 1.0214, 0.7715, -0.5518, -0.659, -0.5533, 0.6022, -0.0212, 0.7967, 0.6044, -0.3981, -0.0231, -0.017, 0.9998]\nstate[eef_state]: left_x=0.2667 left_y=-0.1412 left_z=0.1841 left_yaw=-0.0473 left_pitch=-0.041 left_roll=0.0204 left_gripper=0.6022 right_x=0.2926 right_y=0.0015 right_z=0.1757 right_yaw=0.0044 right_pitch=-0.022 right_roll=0.006 right_gripper=0.9998\nstate[joint_eff]: [-0.2393, -2.7966, 9.4427, 1.2967, -0.442, 0.0757, 0.105, -0.0068, -1.8667, 6.9812, 1.8584, 0.0611, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 13):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5171880e1c2f32f7034dbbba610b76b52979e976f15ae1e88cd0500a4b8f69fb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 13):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7bdd5743c5df6cc6045e06c0e1431c4e443eefd2ea64f17168fb8ee9f8760c7a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 13):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:086755e3d4fea54972e8200ce92849def7e5f9e1ec2a2e7afb71b1d85498bc7b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 2 attempt 0 · /messages · status 200 · 15.2 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7933, 0.6071, -0.3775, -0.0231, -0.0288, 0.9986, -0.0181, 0.7891, 0.6037, -0.3832, -0.0135, -0.0174, 0.9998]\nstate[eef_state]: left_x=0.2954 left_y=0.0017 left_z=0.1821 left_yaw=0.0003 left_pitch=0.0 left_roll=0.0002 left_gripper=0.9986 right_x=0.294 right_y=0.0007 right_z=0.1805 right_yaw=-0.0004 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.3214, -1.4291, 9.7846, 1.8193, -0.0024, 0.1294, -0.1587, -0.6085, -1.1145, 10.4684, 1.8632, -0.1294, 0.0269, -0.0317]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8661, 1.0214, 0.7715, -0.5518, -0.659, -0.5533, 0.6022, -0.0212, 0.7967, 0.6044, -0.3981, -0.0231, -0.017, 0.9998]\nstate[eef_state]: left_x=0.2667 left_y=-0.1412 left_z=0.1841 left_yaw=-0.0473 left_pitch=-0.041 left_roll=0.0204 left_gripper=0.6022 right_x=0.2926 right_y=0.0015 right_z=0.1757 right_yaw=0.0044 right_pitch=-0.022 right_roll=0.006 right_gripper=0.9998\nstate[joint_eff]: [-0.2393, -2.7966, 9.4427, 1.2967, -0.442, 0.0757, 0.105, -0.0068, -1.8667, 6.9812, 1.8584, 0.0611, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 13):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5171880e1c2f32f7034dbbba610b76b52979e976f15ae1e88cd0500a4b8f69fb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 13):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7bdd5743c5df6cc6045e06c0e1431c4e443eefd2ea64f17168fb8ee9f8760c7a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 13):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:086755e3d4fea54972e8200ce92849def7e5f9e1ec2a2e7afb71b1d85498bc7b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017kU1bpGQt2Nk41ZDMgdmKm",
      "input": {
        "note": "In the top view my left gripper sits a few cm to the left of and behind the nearest bottle; shifting ~7 cm right and 3 cm forward, lowering to 16 cm, to get the wrist camera over the bottle for a closer look.",
        "targets": {
          "left_x": 0.3,
          "left_y": -0.21,
          "left_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_017kU1bpGQt2Nk41ZDMgdmKm",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.9432, 1.33, 0.8024, -0.3428, -0.7082, -0.6079, 0.6022, -0.02, 0.7902, 0.5842, -0.3969, -0.0235, -0.0174, 0.9998]\nstate[eef_state]: left_x=0.2901 left_y=-0.1981 left_z=0.1409 left_yaw=-0.0585 left_pitch=-0.0574 left_roll=0.0516 left_gripper=0.6022 right_x=0.2897 right_y=0.0019 right_z=0.1685 right_yaw=0.0061 right_pitch=-0.0346 right_roll=0.0062 right_gripper=0.9998\nstate[joint_eff]: [-0.6085, -5.2444, 9.5248, 1.5165, -0.5397, -0.1099, -0.0073, -0.0068, -1.812, 6.8444, 1.9463, 0.022, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8341638e27e5910d3b28ed19905aee5af3bd132650aa05d7c067d6e1184ef5fe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:606defe12bfaf73e34dbcb33b2a10ca64c8f5c56e8c925f3186a5446675a665f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:55b35371663922d8546cc32e505de21db825e6e55aefbe50ed3ac353cf1973c2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 3 attempt 0 · /messages · status 200 · 34.53 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 7 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7933, 0.6071, -0.3775, -0.0231, -0.0288, 0.9986, -0.0181, 0.7891, 0.6037, -0.3832, -0.0135, -0.0174, 0.9998]\nstate[eef_state]: left_x=0.2954 left_y=0.0017 left_z=0.1821 left_yaw=0.0003 left_pitch=0.0 left_roll=0.0002 left_gripper=0.9986 right_x=0.294 right_y=0.0007 right_z=0.1805 right_yaw=-0.0004 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.3214, -1.4291, 9.7846, 1.8193, -0.0024, 0.1294, -0.1587, -0.6085, -1.1145, 10.4684, 1.8632, -0.1294, 0.0269, -0.0317]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8661, 1.0214, 0.7715, -0.5518, -0.659, -0.5533, 0.6022, -0.0212, 0.7967, 0.6044, -0.3981, -0.0231, -0.017, 0.9998]\nstate[eef_state]: left_x=0.2667 left_y=-0.1412 left_z=0.1841 left_yaw=-0.0473 left_pitch=-0.041 left_roll=0.0204 left_gripper=0.6022 right_x=0.2926 right_y=0.0015 right_z=0.1757 right_yaw=0.0044 right_pitch=-0.022 right_roll=0.006 right_gripper=0.9998\nstate[joint_eff]: [-0.2393, -2.7966, 9.4427, 1.2967, -0.442, 0.0757, 0.105, -0.0068, -1.8667, 6.9812, 1.8584, 0.0611, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.9432, 1.33, 0.8024, -0.3428, -0.7082, -0.6079, 0.6022, -0.02, 0.7902, 0.5842, -0.3969, -0.0235, -0.0174, 0.9998]\nstate[eef_state]: left_x=0.2901 left_y=-0.1981 left_z=0.1409 left_yaw=-0.0585 left_pitch=-0.0574 left_roll=0.0516 left_gripper=0.6022 right_x=0.2897 right_y=0.0019 right_z=0.1685 right_yaw=0.0061 right_pitch=-0.0346 right_roll=0.0062 right_gripper=0.9998\nstate[joint_eff]: [-0.6085, -5.2444, 9.5248, 1.5165, -0.5397, -0.1099, -0.0073, -0.0068, -1.812, 6.8444, 1.9463, 0.022, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8341638e27e5910d3b28ed19905aee5af3bd132650aa05d7c067d6e1184ef5fe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:606defe12bfaf73e34dbcb33b2a10ca64c8f5c56e8c925f3186a5446675a665f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:55b35371663922d8546cc32e505de21db825e6e55aefbe50ed3ac353cf1973c2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QJeg9FdWQUJSwsaPM7EjU3",
      "input": {
        "note": "The wrist view shows the near bottle's cap/neck about 7 cm to my left of the jaw column (a 6 cm arm move shifted the image 40 px, ~6.7 px/cm). Shifting back left 7 cm and descending to 8 cm to line up on the neck.",
        "targets": {
          "left_x": 0.3,
          "left_y": -0.13,
          "left_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01QJeg9FdWQUJSwsaPM7EjU3",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7155, 1.2381, 0.4084, 0.0898, -0.5743, -0.4427, 0.6022, -0.02, 0.7723, 0.5507, -0.3782, -0.0235, -0.0212, 0.9998]\nstate[eef_state]: left_x=0.2954 left_y=-0.1248 left_z=0.0742 left_yaw=-0.02 left_pitch=-0.0386 left_roll=0.0262 left_gripper=0.6022 right_x=0.2869 right_y=0.002 right_z=0.1618 right_yaw=0.0081 right_pitch=-0.0315 right_roll=0.003 right_gripper=0.9998\nstate[joint_eff]: [0.2667, -4.4786, 6.0923, 1.7656, -0.1099, 0.2173, -0.0073, 0.1709, -1.7026, 6.9812, 1.9316, 0.0269, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2109911d8b861cb9538373542766002c0e25189544f8f92386b926d80ff88bfd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a189ef02e48808c3da01d858719017aad0c790e9f935a0f434ab65e3a293a420",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c73b2e89596632a3c1d8a80e1946ecf84bc10fc3ae928f4de06f08de4333c632",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 4 attempt 0 · /messages · status 200 · 16.1 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 4 changed as sent

message 7 changed as sent

message 10 changed as sent

message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8661, 1.0214, 0.7715, -0.5518, -0.659, -0.5533, 0.6022, -0.0212, 0.7967, 0.6044, -0.3981, -0.0231, -0.017, 0.9998]\nstate[eef_state]: left_x=0.2667 left_y=-0.1412 left_z=0.1841 left_yaw=-0.0473 left_pitch=-0.041 left_roll=0.0204 left_gripper=0.6022 right_x=0.2926 right_y=0.0015 right_z=0.1757 right_yaw=0.0044 right_pitch=-0.022 right_roll=0.006 right_gripper=0.9998\nstate[joint_eff]: [-0.2393, -2.7966, 9.4427, 1.2967, -0.442, 0.0757, 0.105, -0.0068, -1.8667, 6.9812, 1.8584, 0.0611, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.9432, 1.33, 0.8024, -0.3428, -0.7082, -0.6079, 0.6022, -0.02, 0.7902, 0.5842, -0.3969, -0.0235, -0.0174, 0.9998]\nstate[eef_state]: left_x=0.2901 left_y=-0.1981 left_z=0.1409 left_yaw=-0.0585 left_pitch=-0.0574 left_roll=0.0516 left_gripper=0.6022 right_x=0.2897 right_y=0.0019 right_z=0.1685 right_yaw=0.0061 right_pitch=-0.0346 right_roll=0.0062 right_gripper=0.9998\nstate[joint_eff]: [-0.6085, -5.2444, 9.5248, 1.5165, -0.5397, -0.1099, -0.0073, -0.0068, -1.812, 6.8444, 1.9463, 0.022, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7155, 1.2381, 0.4084, 0.0898, -0.5743, -0.4427, 0.6022, -0.02, 0.7723, 0.5507, -0.3782, -0.0235, -0.0212, 0.9998]\nstate[eef_state]: left_x=0.2954 left_y=-0.1248 left_z=0.0742 left_yaw=-0.02 left_pitch=-0.0386 left_roll=0.0262 left_gripper=0.6022 right_x=0.2869 right_y=0.002 right_z=0.1618 right_yaw=0.0081 right_pitch=-0.0315 right_roll=0.003 right_gripper=0.9998\nstate[joint_eff]: [0.2667, -4.4786, 6.0923, 1.7656, -0.1099, 0.2173, -0.0073, 0.1709, -1.7026, 6.9812, 1.9316, 0.0269, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2109911d8b861cb9538373542766002c0e25189544f8f92386b926d80ff88bfd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a189ef02e48808c3da01d858719017aad0c790e9f935a0f434ab65e3a293a420",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c73b2e89596632a3c1d8a80e1946ecf84bc10fc3ae928f4de06f08de4333c632",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019ryzJmiJzwcwNebEyXB53g",
      "input": {
        "note": "The wrist view shows this bottle lying diagonally with its cap pointing forward-left, so I rotate the tool 45° CCW to put the jaws perpendicular to the bottle axis, and drop to table level just behind it before closing in.",
        "targets": {
          "left_gripper": 0.9,
          "left_yaw": 0.785,
          "left_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_019ryzJmiJzwcwNebEyXB53g",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8974, 1.9121, 0.989, -0.4202, -1.0317, -1.3926, 0.8976, -0.02, 0.7555, 0.5209, -0.366, -0.0238, -0.0254, 0.9998]\nstate[eef_state]: left_x=0.3334 left_y=-0.1691 left_z=0.0451 left_yaw=0.5703 left_pitch=0.039 left_roll=-0.061 left_gripper=0.8976 right_x=0.2838 right_y=0.0021 right_z=0.1552 right_yaw=0.0107 right_pitch=-0.0323 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [0.1162, -7.0085, 1.265, -0.9499, 0.2613, 0.315, -0.105, -0.2393, -1.265, 6.9128, 1.9805, -0.0415, -0.0171, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c09760932e6b65d9ff36e086e9fbdb8dda1deb582745e5da23d03cb9e1b0b8fe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:12e14e39b9150d0214cd97e2ff52effe2bde2a10c14ad88387551dfbf2c85a01",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:df8503b739a19ed57ac28a4f3b884b0f3c915f571910487099082cf3018f1a22",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 5 attempt 0 · /messages · status 200 · 11.82 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 7 changed as sent

message 10 changed as sent

message 13 changed as sent

message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.9432, 1.33, 0.8024, -0.3428, -0.7082, -0.6079, 0.6022, -0.02, 0.7902, 0.5842, -0.3969, -0.0235, -0.0174, 0.9998]\nstate[eef_state]: left_x=0.2901 left_y=-0.1981 left_z=0.1409 left_yaw=-0.0585 left_pitch=-0.0574 left_roll=0.0516 left_gripper=0.6022 right_x=0.2897 right_y=0.0019 right_z=0.1685 right_yaw=0.0061 right_pitch=-0.0346 right_roll=0.0062 right_gripper=0.9998\nstate[joint_eff]: [-0.6085, -5.2444, 9.5248, 1.5165, -0.5397, -0.1099, -0.0073, -0.0068, -1.812, 6.8444, 1.9463, 0.022, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7155, 1.2381, 0.4084, 0.0898, -0.5743, -0.4427, 0.6022, -0.02, 0.7723, 0.5507, -0.3782, -0.0235, -0.0212, 0.9998]\nstate[eef_state]: left_x=0.2954 left_y=-0.1248 left_z=0.0742 left_yaw=-0.02 left_pitch=-0.0386 left_roll=0.0262 left_gripper=0.6022 right_x=0.2869 right_y=0.002 right_z=0.1618 right_yaw=0.0081 right_pitch=-0.0315 right_roll=0.003 right_gripper=0.9998\nstate[joint_eff]: [0.2667, -4.4786, 6.0923, 1.7656, -0.1099, 0.2173, -0.0073, 0.1709, -1.7026, 6.9812, 1.9316, 0.0269, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8974, 1.9121, 0.989, -0.4202, -1.0317, -1.3926, 0.8976, -0.02, 0.7555, 0.5209, -0.366, -0.0238, -0.0254, 0.9998]\nstate[eef_state]: left_x=0.3334 left_y=-0.1691 left_z=0.0451 left_yaw=0.5703 left_pitch=0.039 left_roll=-0.061 left_gripper=0.8976 right_x=0.2838 right_y=0.0021 right_z=0.1552 right_yaw=0.0107 right_pitch=-0.0323 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [0.1162, -7.0085, 1.265, -0.9499, 0.2613, 0.315, -0.105, -0.2393, -1.265, 6.9128, 1.9805, -0.0415, -0.0171, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c09760932e6b65d9ff36e086e9fbdb8dda1deb582745e5da23d03cb9e1b0b8fe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:12e14e39b9150d0214cd97e2ff52effe2bde2a10c14ad88387551dfbf2c85a01",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:df8503b739a19ed57ac28a4f3b884b0f3c915f571910487099082cf3018f1a22",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UejF9j7UEzDJipWuAypqeV",
      "input": {
        "note": "With the tool yawed 45° the bottle now appears axis-vertical in the wrist view, so the open jaws straddle it correctly; advancing ~4 cm along the tool's forward direction at neck height to bring the jaws around the bottle's neck.",
        "targets": {
          "left_x": 0.368,
          "left_y": -0.147,
          "left_yaw": 0.785,
          "left_z": 0.032
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01UejF9j7UEzDJipWuAypqeV",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8059, 2.083, 1.2297, -0.7261, -0.9878, -1.5822, 0.898, -0.0204, 0.7387, 0.4911, -0.3511, -0.0238, -0.0284, 0.9998]\nstate[eef_state]: left_x=0.3541 left_y=-0.1508 left_z=0.0298 left_yaw=0.7566 left_pitch=-0.0196 left_roll=0.0111 left_gripper=0.898 right_x=0.2811 right_y=0.0021 right_z=0.149 right_yaw=0.012 right_pitch=-0.0304 right_roll=-0.0028 right_gripper=0.9998\nstate[joint_eff]: [0.2256, -9.1556, 4.0821, -0.0611, -0.7448, 0.0024, 0.022, -0.4171, -1.3607, 7.2684, 1.9707, -0.0708, 0.0366, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3ec2ce09b5f8d3b247a4afabe4a690044f85917ed6537ab4614bc8d96ae7bcc1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:af6e9aff41450a44c357f21ecf694471539482f3d866cb5972dd7b586f84aa2e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:92b2f8bdcbc8b94eb1ae43628cef10f0b06e7c68cd6a1ea12cf0bf50d422d55f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 6 attempt 0 · /messages · status 200 · 19.49 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 10 changed as sent

message 13 changed as sent

message 16 changed as sent

message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7155, 1.2381, 0.4084, 0.0898, -0.5743, -0.4427, 0.6022, -0.02, 0.7723, 0.5507, -0.3782, -0.0235, -0.0212, 0.9998]\nstate[eef_state]: left_x=0.2954 left_y=-0.1248 left_z=0.0742 left_yaw=-0.02 left_pitch=-0.0386 left_roll=0.0262 left_gripper=0.6022 right_x=0.2869 right_y=0.002 right_z=0.1618 right_yaw=0.0081 right_pitch=-0.0315 right_roll=0.003 right_gripper=0.9998\nstate[joint_eff]: [0.2667, -4.4786, 6.0923, 1.7656, -0.1099, 0.2173, -0.0073, 0.1709, -1.7026, 6.9812, 1.9316, 0.0269, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8974, 1.9121, 0.989, -0.4202, -1.0317, -1.3926, 0.8976, -0.02, 0.7555, 0.5209, -0.366, -0.0238, -0.0254, 0.9998]\nstate[eef_state]: left_x=0.3334 left_y=-0.1691 left_z=0.0451 left_yaw=0.5703 left_pitch=0.039 left_roll=-0.061 left_gripper=0.8976 right_x=0.2838 right_y=0.0021 right_z=0.1552 right_yaw=0.0107 right_pitch=-0.0323 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [0.1162, -7.0085, 1.265, -0.9499, 0.2613, 0.315, -0.105, -0.2393, -1.265, 6.9128, 1.9805, -0.0415, -0.0171, -0.0073]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8059, 2.083, 1.2297, -0.7261, -0.9878, -1.5822, 0.898, -0.0204, 0.7387, 0.4911, -0.3511, -0.0238, -0.0284, 0.9998]\nstate[eef_state]: left_x=0.3541 left_y=-0.1508 left_z=0.0298 left_yaw=0.7566 left_pitch=-0.0196 left_roll=0.0111 left_gripper=0.898 right_x=0.2811 right_y=0.0021 right_z=0.149 right_yaw=0.012 right_pitch=-0.0304 right_roll=-0.0028 right_gripper=0.9998\nstate[joint_eff]: [0.2256, -9.1556, 4.0821, -0.0611, -0.7448, 0.0024, 0.022, -0.4171, -1.3607, 7.2684, 1.9707, -0.0708, 0.0366, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3ec2ce09b5f8d3b247a4afabe4a690044f85917ed6537ab4614bc8d96ae7bcc1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:af6e9aff41450a44c357f21ecf694471539482f3d866cb5972dd7b586f84aa2e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:92b2f8bdcbc8b94eb1ae43628cef10f0b06e7c68cd6a1ea12cf0bf50d422d55f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015by36UyLobQ5fT8ESRZQ3K",
      "input": {
        "note": "The wrist view is filled by the bottle's body with the cap at upper right; I need the jaws around the narrower neck, so I advance ~3 cm along the tool axis and shift ~2 cm toward the neck side.",
        "targets": {
          "left_x": 0.392,
          "left_y": -0.149,
          "left_z": 0.032
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_015by36UyLobQ5fT8ESRZQ3K",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7746, 2.1078, 1.2732, -0.7155, -0.9916, -1.5791, 0.898, -0.0204, 0.7258, 0.4641, -0.3428, -0.0242, -0.0288, 0.9998]\nstate[eef_state]: left_x=0.3684 left_y=-0.1487 left_z=0.031 left_yaw=0.7858 left_pitch=-0.0155 left_roll=-0.0156 left_gripper=0.898 right_x=0.2779 right_y=0.0022 right_z=0.1418 right_yaw=0.0125 right_pitch=-0.0361 right_roll=-0.0027 right_gripper=0.9998\nstate[joint_eff]: [-0.4171, -9.8667, 5.135, 0.1929, -0.6716, -0.0366, -0.0073, -0.4444, -1.6205, 6.8718, 2.0, -0.0806, 0.0073, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fea9bf45a0f77f7ad18817c75f2bd1706b9ab3e8d6c772e5ea41b88c4c6d466f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8bd8120f723bbb8196f579b01a5cbd11bee8420e1bb7149492554bf5340e3ed2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8272e3ef8148e19fc58dd432d737da356035e962549c93264625951538337143",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 7 attempt 0 · /messages · status 200 · 33.08 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 13 changed as sent

message 16 changed as sent

message 19 changed as sent

message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8974, 1.9121, 0.989, -0.4202, -1.0317, -1.3926, 0.8976, -0.02, 0.7555, 0.5209, -0.366, -0.0238, -0.0254, 0.9998]\nstate[eef_state]: left_x=0.3334 left_y=-0.1691 left_z=0.0451 left_yaw=0.5703 left_pitch=0.039 left_roll=-0.061 left_gripper=0.8976 right_x=0.2838 right_y=0.0021 right_z=0.1552 right_yaw=0.0107 right_pitch=-0.0323 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [0.1162, -7.0085, 1.265, -0.9499, 0.2613, 0.315, -0.105, -0.2393, -1.265, 6.9128, 1.9805, -0.0415, -0.0171, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8059, 2.083, 1.2297, -0.7261, -0.9878, -1.5822, 0.898, -0.0204, 0.7387, 0.4911, -0.3511, -0.0238, -0.0284, 0.9998]\nstate[eef_state]: left_x=0.3541 left_y=-0.1508 left_z=0.0298 left_yaw=0.7566 left_pitch=-0.0196 left_roll=0.0111 left_gripper=0.898 right_x=0.2811 right_y=0.0021 right_z=0.149 right_yaw=0.012 right_pitch=-0.0304 right_roll=-0.0028 right_gripper=0.9998\nstate[joint_eff]: [0.2256, -9.1556, 4.0821, -0.0611, -0.7448, 0.0024, 0.022, -0.4171, -1.3607, 7.2684, 1.9707, -0.0708, 0.0366, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7746, 2.1078, 1.2732, -0.7155, -0.9916, -1.5791, 0.898, -0.0204, 0.7258, 0.4641, -0.3428, -0.0242, -0.0288, 0.9998]\nstate[eef_state]: left_x=0.3684 left_y=-0.1487 left_z=0.031 left_yaw=0.7858 left_pitch=-0.0155 left_roll=-0.0156 left_gripper=0.898 right_x=0.2779 right_y=0.0022 right_z=0.1418 right_yaw=0.0125 right_pitch=-0.0361 right_roll=-0.0027 right_gripper=0.9998\nstate[joint_eff]: [-0.4171, -9.8667, 5.135, 0.1929, -0.6716, -0.0366, -0.0073, -0.4444, -1.6205, 6.8718, 2.0, -0.0806, 0.0073, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fea9bf45a0f77f7ad18817c75f2bd1706b9ab3e8d6c772e5ea41b88c4c6d466f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8bd8120f723bbb8196f579b01a5cbd11bee8420e1bb7149492554bf5340e3ed2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8272e3ef8148e19fc58dd432d737da356035e962549c93264625951538337143",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAISpxgKjgEIEhgCKkDU4gS3lxETWf2fS5qhh1IqZnzHy2Tzyq6KviOrlPt7Hpxtob1zi+hV5jQJY1QM1uZBcvbk0AAKJXiQqPWk6nPdMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfSczNUGEgzEpf+kBJZIMyMK5CsaDBsuTOAb5NnIj7ikLyIwVZHPZbvgR+iCF/X+B0Vf9li3T8lRT7ZpVno3YOgew3Fp9AE7CyVOYn5XMwNht969KsUWfkO3FES6m+zRgj+H48norP+WI9oH4r1ZRs7zPbA0h/WGfZMxjykduBZUBn4R3cw6g17YY2f6G2R7LCnyb0XwyrhWkZKoiDpn3Ga7gps23YE4X/rodZ8sYgXl9orpoB1AUuhkk/L/tq412+8F+UDFCaKVI1rQ9rpV0F+/+VJCSn1CbY5SLNVSlifPFbNakeOyjmNn8oafsfQ83l0pFXm9mIwyvDdmLKZA/VQx8824yItbw2gUDBIDniyPm0nEjIC+wEYEh2IR7ulMtFwoBE3ItnKW5TI0iOwCdsLvKzUidRPGv5mEPZnqiewtWmlNrbyXiwO+rrH6N0cm8CegTy/asBCC6gsneblD2SxLA3HRpkWkfpdXMfUKTu1HwbMd6NjU829ZE3xchEw8C8biBNy9ZYKw+zBVo2zcp2S+pwjHwNdeaYwLEvSEJyZdSXX8PKgMvUS/KztXdcgWdGKAd3frvcCKAxUl+hc8vfkndlIDzuLs98Nt8LGTXrolrwEXp9g5qDjdcyFexece0OL6zTEfrPAHiKh/vCXbGAigKHov70fxHnu34gC2iVHWg55qmw6OM00zCXu2gkdGcxHT/EI66a8+P2Bu7PpaTdpgJ6aJa1K0syZJkgKRsrURLbBf1a0r+atyvhKYbxUPlZdgOIb6kjaczpLntIZwn1ZA490/LhoMbdc9T40qr+/qj+NL95T0Zjm5+pl4HZP5B8CdrulXiW9ce0UCxE2vz+BBZy9QhahU8ijNbzE3paslS+iVfJ4aYuBNqUVGXzvZTOUnUSS5YLyAnnwGsYWLoRo4ug6mOsr1DWAWGnrmzAvTvJ4DTF6ExCoKwdy/vBTDTX+xhwn/XRprZ2xXvnv+8JTrJce6Cnr+c8AtfLI9EDSCcq3ye2XOpfUjA8UEG/oBvHUS3M3ko1b4DpIINg8QvAcaHH4T85MLPfcqxQDGQUrihMlURyHRq597S4a+1o99ubbIFoCceSBqUna7mYbaumPCicqQafY8tEBJ3o8RRBqiQGRYDMrdeAv23rMh8fQ4baYzF9dPOFa40wBRSr2f6N2dyhTZ2mHoFNniZv3LgZTItwQIT06jgIWErfFhE+TBtJBDvgTW0hvzToftgvX1OjwkGsi3DO2dOZFMCZQ3vVXLZQp8UqaUlixf3uqrWBgo0Z45VsHY02QYnRr2QfNdGvkbp8ogc64pHPs7KoP9geJnti09oaKYF+d65Q+Jk3dHglvC56ycEcCRIfTmM4LqxO9Gt8PPPzYRudb0ZsnKTXJLXtFBu/Gz7RLSeVsrUGFu9kAqY5tMLKC+DO3Fmj2k2nElTbm39EUG96Z27Fidh2JRv4fQhHZ8U8ip/sdkN+ObGAy9Qq7O5vRfWBFyCSvJlmTlR1gePM6JEcJiQyHVAL5O2/6wdJy5e+KBTFw5jWEdruORvwgk9V7dCOGfoRdxpVCYNytD4+2r/bv731ohtM8kt+UVh+iWEo7jWhkI1mHGHJ5Z4+xWAOMe4FzK76aSEQU3//SFu/S98jCTIJwpupUubP/MKFiVVEgOhCK01UJcnHFRspzpz8IcvgR2IINXiIJArCG+O55vQTS8aUrtRQEm9w1az13do8cXny60avKwp6oUcvw3efwNlJpe9hv1YEbLyh3BjvEPAp7A/YCFcGGBcDeU17stbtd7uyhSr7dqpgQFegc2IRI3b4DG4SioCvC56N6BIAHMLfgHxrzY9+Ya/XChuk3YacmeNefKrZu4uTcmSPIqqduhg+xTVcWAY1h6vIvklg2ydRTxUNHg0gexBS/+JzEo3tAgVWUIQegfQ6/P9gdDeZSXSi6N0mevSJB2X8pQ9VtHsuOT8E/Ww/PQVc78k4oG82YCSioof0rEVvlQgrGTniAy05pf+YEIradGmy2Z4dTR2z+wQM9j2RPeHMur6LE8DnlYmoKsUsVPdwlKyBEL4jbsdXsCH8v5prvmkcigz7/VysR3yTkKmM0GbRMPcNjzn1d2+eisU/q1vcCXLOmrIwvGkg2qs0LjtfK1H14Q+xK8d7QTsagat7E7NSzlVYJ7lxyT0f/tGFpzlRBxIqDwRRC6K8Jj5iGSrIIGkjMVrdkaHWU0UwHHHj97MYinp3RC37YePj3RCLQR7ph+v4TbbRYdBK8WSsmeUTV+aTJS06djXuh5Wn6Hqc1zbrq/N/2dQpEm0LBwmVKYtQiBy8Tn2ksCXO820p+ChZrigZDTYHuUAodISAKmAqw/V9d24iAN3uWQL0wG48wj0lqsCqm+tVtZgjx/Uf80NSInrGI4Cl/3nHRqfLXvjlhLct5WhxysbPo1QDQfe4TPlYqk9eh0xZX9/3vt/z8Z5ka4Z7tC2z1KQxbVa5RHV5oZ3YS9Ya7QtBJDePDEFzanq63UcHM0J/lHNql9TUADqvtYP5nZF+LadhMtpIfrFlETyP28xD0mKKh+dsHYqLFdDmP4Sr+Rb4D6EspuODnE+NrkP09dJnnVAbnKXqpdJ7Cmktaj+JVCVgZAXx3KASnYPKBdNXt4PXVpN3FJpduDK9orWkR66y6YzzVkKNEwexqwrPJTZCv2iRsT6Ts9Erj+e99R9d9p9QkSjRIQZ5l9zGnfUAHsz57KnS7zFFLtbMjOc2y7myYQhmDkbozWQZhMcqGiB6qivNDvh6sHQ3DCHoR49TtfeL/BpQWV5hyQNXfScbjqjNQWh4Wbu2RgUJXns1Ru+InSPk7v86KDyFYCydxsIj67Uc4cjiw8qmS8HeIUebhvrH3dKCyjciCfBzqCQk/ofPuN/oN35lGeAlmUh+Onrtaxo1gSjX2V6oPLVKzpjXyzrT6J9tJZRQn46hxOSVIjrVadsbIIFouUGTWlFVucmIDHA7wDPooDPnER7/+eVpHNXrTcsvEwkwOtd9LBZ8izdbJjN+g9BNgdiEoyMJrIUNO525cxekD1w8CYOPTT4arDo3h9lwcivQ7koza0xcXm2NIwlGyZ4Sk3J++Sl3OfliTRREZYOQFC8KTwJ08W6ym9JlIe6WowJyvELA4o/rx/S3L8zGEX7LBkok5GvZdEIIvgozS4IgIAWbjFhwsYkDp59+apmZArsP2IDwnm5txWuvWR86Elbaoki8HHYQj7EfTCJ1evlU94hf+J4y64fLOa/fmefCC5wRVF4haPpN4QYJGBZgAIb5ZWY8M/T8dOzkOHwOl2CnAo2jA3w2UbPIKFwfvqP0r1tjfYoK6mlx7XlzU8dGsN1+W+gw8h3QzLibh8/IJ/0YUhCZ239wZnA0g3r9f0/aRTXVGr3eQg4SKLX0ktM2H+u31PNBPHSJB5yrSCfL9tLEiV+ZmD9zR62IU2BZmTOWHf+rBxLavcBraj1MjH2ouVD7Op5lPZDEeEVSxo+EzNX+e177+jxIUvBgyimBy8/LNTa5H6LiItubzvKW7xKTCWVB+ziFFB0M3mIYBgmZJ9OAbMxhWaoy2bQt4JnRG49g/1bU3+a8jovrtc6TUQPQzTt9bHff2uXrQREt8rg23EKwqEsoIkgDlhggCvroI01F8weSiC7/V6G4OIoLplelz67cytsjKFXmlHdsrMN8LoX1JrlbQ+NqHkc9rhHZGzUBuH44Npn3xaEWuefnjW5ru9o+o6jQ7nuHVmmrZ3L1aNa+Tgr/SW5uNNPHynvKx09XE0aT9Lcx1CHQTnBMqd+J29/3437dAZUm8fopw1QIVU6f+rzdl6WY3PTKGLL69EaRGvQbvNEG6hyhykpjVgwtD/bFXDAEBowGiojCR1h2a3Ty1+w6F0VdPkc+PB4NNNDIHCGrVZTwfLpCqxknoOftdRaTTtXiXTbEHwk85nEahmY9Ydo/B8stuRK7Fv+LOPVzngLwsYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GvBYe3vyaB47zBNbq8tqF9",
      "input": {
        "note": "Closing the jaws partway to about 2.8 cm: if they are around the bottle's neck this will hold it loosely enough to pivot, and the settled reading will tell me whether I am on the neck or on the wide body.",
        "targets": {
          "left_gripper": 0.3
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01GvBYe3vyaB47zBNbq8tqF9",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7746, 2.1078, 1.2728, -0.7151, -0.9997, -1.5787, 0.5254, -0.0212, 0.7055, 0.4316, -0.3244, -0.028, -0.0288, 0.9998]\nstate[eef_state]: left_x=0.3689 left_y=-0.1481 left_z=0.0321 left_yaw=0.7857 left_pitch=-0.0075 left_roll=-0.0152 left_gripper=0.5254 right_x=0.2752 right_y=0.0027 right_z=0.1359 right_yaw=0.015 right_pitch=-0.0299 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [-0.2256, -9.8667, 5.2171, 0.188, -0.6276, -0.0366, 0.8376, -0.3214, -1.347, 6.9538, 1.9853, -0.0366, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 45):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:df505d0e888eb9ba005d8127546310dbb167ba823c09e47115f0560e24a20840",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:15b14e9cfd08b659f3fd0981ae8b4bfb5fe4933cbad4c9b10daa671a79a6c18a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0784d6b356b54e2e244242eb5758d704cd557e9e10eaf4ef3b15342dd92217b8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 8 attempt 0 · /messages · status 200 · 14.29 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 16 changed as sent

message 19 changed as sent

message 22 changed as sent

message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8059, 2.083, 1.2297, -0.7261, -0.9878, -1.5822, 0.898, -0.0204, 0.7387, 0.4911, -0.3511, -0.0238, -0.0284, 0.9998]\nstate[eef_state]: left_x=0.3541 left_y=-0.1508 left_z=0.0298 left_yaw=0.7566 left_pitch=-0.0196 left_roll=0.0111 left_gripper=0.898 right_x=0.2811 right_y=0.0021 right_z=0.149 right_yaw=0.012 right_pitch=-0.0304 right_roll=-0.0028 right_gripper=0.9998\nstate[joint_eff]: [0.2256, -9.1556, 4.0821, -0.0611, -0.7448, 0.0024, 0.022, -0.4171, -1.3607, 7.2684, 1.9707, -0.0708, 0.0366, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7746, 2.1078, 1.2732, -0.7155, -0.9916, -1.5791, 0.898, -0.0204, 0.7258, 0.4641, -0.3428, -0.0242, -0.0288, 0.9998]\nstate[eef_state]: left_x=0.3684 left_y=-0.1487 left_z=0.031 left_yaw=0.7858 left_pitch=-0.0155 left_roll=-0.0156 left_gripper=0.898 right_x=0.2779 right_y=0.0022 right_z=0.1418 right_yaw=0.0125 right_pitch=-0.0361 right_roll=-0.0027 right_gripper=0.9998\nstate[joint_eff]: [-0.4171, -9.8667, 5.135, 0.1929, -0.6716, -0.0366, -0.0073, -0.4444, -1.6205, 6.8718, 2.0, -0.0806, 0.0073, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7746, 2.1078, 1.2728, -0.7151, -0.9997, -1.5787, 0.5254, -0.0212, 0.7055, 0.4316, -0.3244, -0.028, -0.0288, 0.9998]\nstate[eef_state]: left_x=0.3689 left_y=-0.1481 left_z=0.0321 left_yaw=0.7857 left_pitch=-0.0075 left_roll=-0.0152 left_gripper=0.5254 right_x=0.2752 right_y=0.0027 right_z=0.1359 right_yaw=0.015 right_pitch=-0.0299 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [-0.2256, -9.8667, 5.2171, 0.188, -0.6276, -0.0366, 0.8376, -0.3214, -1.347, 6.9538, 1.9853, -0.0366, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 45):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:df505d0e888eb9ba005d8127546310dbb167ba823c09e47115f0560e24a20840",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:15b14e9cfd08b659f3fd0981ae8b4bfb5fe4933cbad4c9b10daa671a79a6c18a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0784d6b356b54e2e244242eb5758d704cd557e9e10eaf4ef3b15342dd92217b8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WGRoyvwtqejcnUuGgp6YKC",
      "input": {
        "note": "The partial close stopped at 5 cm on the bottle's wide body, so the jaws are around the body, not the neck; I reopen and slide ~9 cm along the bottle axis toward the cap (forward and to the arm's right) to reach the neck.",
        "targets": {
          "left_gripper": 0.92,
          "left_x": 0.433,
          "left_y": -0.212,
          "left_z": 0.033
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01WGRoyvwtqejcnUuGgp6YKC",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7746, 2.4004, 1.7958, -0.9207, -1.0035, -1.5974, 0.8947, -0.0212, 0.6888, 0.4046, -0.3134, -0.0307, -0.0292, 0.9998]\nstate[eef_state]: left_x=0.4339 left_y=-0.2111 left_z=0.0357 left_yaw=0.7957 left_pitch=-0.0038 left_roll=-0.0558 left_gripper=0.8947 right_x=0.2723 right_y=0.0032 right_z=0.1301 right_yaw=0.0174 right_pitch=-0.0291 right_roll=0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.4171, -12.0957, 5.7504, -0.2711, -0.6813, 0.0806, -0.1783, -0.3761, -1.0051, 6.8718, 1.9267, -0.0366, -0.0122, -0.0122]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dc5d7b020b598cd4362734b9270e759357d94f67d6d671d12dc699ac43bb5db2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:63b502bfdcca9b3a9be98f3376991d526a989f04beac19ba46931878566e9c68",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bae8b6bfdd3fa767c4fa1bc676c74319a1a848fb4253043c8604cc129b1387fb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 9 attempt 0 · /messages · status 200 · 15.71 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 19 changed as sent

message 22 changed as sent

message 25 changed as sent

message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7746, 2.1078, 1.2732, -0.7155, -0.9916, -1.5791, 0.898, -0.0204, 0.7258, 0.4641, -0.3428, -0.0242, -0.0288, 0.9998]\nstate[eef_state]: left_x=0.3684 left_y=-0.1487 left_z=0.031 left_yaw=0.7858 left_pitch=-0.0155 left_roll=-0.0156 left_gripper=0.898 right_x=0.2779 right_y=0.0022 right_z=0.1418 right_yaw=0.0125 right_pitch=-0.0361 right_roll=-0.0027 right_gripper=0.9998\nstate[joint_eff]: [-0.4171, -9.8667, 5.135, 0.1929, -0.6716, -0.0366, -0.0073, -0.4444, -1.6205, 6.8718, 2.0, -0.0806, 0.0073, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7746, 2.1078, 1.2728, -0.7151, -0.9997, -1.5787, 0.5254, -0.0212, 0.7055, 0.4316, -0.3244, -0.028, -0.0288, 0.9998]\nstate[eef_state]: left_x=0.3689 left_y=-0.1481 left_z=0.0321 left_yaw=0.7857 left_pitch=-0.0075 left_roll=-0.0152 left_gripper=0.5254 right_x=0.2752 right_y=0.0027 right_z=0.1359 right_yaw=0.015 right_pitch=-0.0299 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [-0.2256, -9.8667, 5.2171, 0.188, -0.6276, -0.0366, 0.8376, -0.3214, -1.347, 6.9538, 1.9853, -0.0366, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7746, 2.4004, 1.7958, -0.9207, -1.0035, -1.5974, 0.8947, -0.0212, 0.6888, 0.4046, -0.3134, -0.0307, -0.0292, 0.9998]\nstate[eef_state]: left_x=0.4339 left_y=-0.2111 left_z=0.0357 left_yaw=0.7957 left_pitch=-0.0038 left_roll=-0.0558 left_gripper=0.8947 right_x=0.2723 right_y=0.0032 right_z=0.1301 right_yaw=0.0174 right_pitch=-0.0291 right_roll=0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.4171, -12.0957, 5.7504, -0.2711, -0.6813, 0.0806, -0.1783, -0.3761, -1.0051, 6.8718, 1.9267, -0.0366, -0.0122, -0.0122]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dc5d7b020b598cd4362734b9270e759357d94f67d6d671d12dc699ac43bb5db2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:63b502bfdcca9b3a9be98f3376991d526a989f04beac19ba46931878566e9c68",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bae8b6bfdd3fa767c4fa1bc676c74319a1a848fb4253043c8604cc129b1387fb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016HCCaToHCSuSrNnZif2nSK",
      "input": {
        "note": "I have lost track of which bottle the wrist camera is showing; lifting the left arm to 30 cm so the overhead camera shows all three bottles and the gripper clearly before I re-plan the neck grasp.",
        "targets": {
          "left_z": 0.3
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 18 steps (1.8s)",
      "tool_use_id": "toolu_016HCCaToHCSuSrNnZif2nSK",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7059, 2.2574, 2.3585, -1.5532, -0.9989, -1.4799, 0.896, -0.0212, 0.672, 0.3786, -0.2981, -0.0303, -0.033, 0.9998]\nstate[eef_state]: left_x=0.437 left_y=-0.1726 left_z=0.2363 left_yaw=0.801 left_pitch=-0.004 left_roll=-0.03 left_gripper=0.896 right_x=0.2703 right_y=0.0032 right_z=0.1256 right_yaw=0.0191 right_pitch=-0.023 right_roll=-0.0032 right_gripper=0.9998\nstate[joint_eff]: [0.6085, -14.9949, 6.0786, 0.2466, -0.6374, 0.3932, 0.1197, -0.1436, -0.841, 7.0085, 1.9023, -0.0464, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f2d05a85c2e1773f8cca8f48190313161fb00780c4118d91147b6befee353a3c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:74d144baab72d0b68a748c5a03b6f049fc588193ad7192905e052ebb437081cc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7fcd6e9a40a42a097c584c3674fdb770f5fedaeecbb085fef901a37414da6173",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 10 attempt 0 · /messages · status 200 · 11.28 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 22 changed as sent

message 25 changed as sent

message 28 changed as sent

message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7746, 2.1078, 1.2728, -0.7151, -0.9997, -1.5787, 0.5254, -0.0212, 0.7055, 0.4316, -0.3244, -0.028, -0.0288, 0.9998]\nstate[eef_state]: left_x=0.3689 left_y=-0.1481 left_z=0.0321 left_yaw=0.7857 left_pitch=-0.0075 left_roll=-0.0152 left_gripper=0.5254 right_x=0.2752 right_y=0.0027 right_z=0.1359 right_yaw=0.015 right_pitch=-0.0299 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [-0.2256, -9.8667, 5.2171, 0.188, -0.6276, -0.0366, 0.8376, -0.3214, -1.347, 6.9538, 1.9853, -0.0366, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7746, 2.4004, 1.7958, -0.9207, -1.0035, -1.5974, 0.8947, -0.0212, 0.6888, 0.4046, -0.3134, -0.0307, -0.0292, 0.9998]\nstate[eef_state]: left_x=0.4339 left_y=-0.2111 left_z=0.0357 left_yaw=0.7957 left_pitch=-0.0038 left_roll=-0.0558 left_gripper=0.8947 right_x=0.2723 right_y=0.0032 right_z=0.1301 right_yaw=0.0174 right_pitch=-0.0291 right_roll=0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.4171, -12.0957, 5.7504, -0.2711, -0.6813, 0.0806, -0.1783, -0.3761, -1.0051, 6.8718, 1.9267, -0.0366, -0.0122, -0.0122]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7059, 2.2574, 2.3585, -1.5532, -0.9989, -1.4799, 0.896, -0.0212, 0.672, 0.3786, -0.2981, -0.0303, -0.033, 0.9998]\nstate[eef_state]: left_x=0.437 left_y=-0.1726 left_z=0.2363 left_yaw=0.801 left_pitch=-0.004 left_roll=-0.03 left_gripper=0.896 right_x=0.2703 right_y=0.0032 right_z=0.1256 right_yaw=0.0191 right_pitch=-0.023 right_roll=-0.0032 right_gripper=0.9998\nstate[joint_eff]: [0.6085, -14.9949, 6.0786, 0.2466, -0.6374, 0.3932, 0.1197, -0.1436, -0.841, 7.0085, 1.9023, -0.0464, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f2d05a85c2e1773f8cca8f48190313161fb00780c4118d91147b6befee353a3c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:74d144baab72d0b68a748c5a03b6f049fc588193ad7192905e052ebb437081cc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7fcd6e9a40a42a097c584c3674fdb770f5fedaeecbb085fef901a37414da6173",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Syc5yzWD7b9vAM7b9d8Lfh",
      "input": {
        "note": "Overhead view shows the three bottles clustered ahead of the left arm, caps pointing forward-right; the wrist view has the nearest bottle's cap just right of the jaw column. Shifting ~3.5 cm to the tool's right and descending to 10 cm to line the jaws up on its neck.",
        "targets": {
          "left_x": 0.412,
          "left_y": -0.198,
          "left_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01Syc5yzWD7b9vAM7b9d8Lfh",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7788, 2.2559, 1.853, -1.2152, -1.0012, -1.6077, 0.8962, -0.0212, 0.6598, 0.358, -0.2905, -0.0307, -0.0326, 0.9998]\nstate[eef_state]: left_x=0.4116 left_y=-0.1921 left_z=0.1106 left_yaw=0.7975 left_pitch=-0.0059 left_roll=0.0283 left_gripper=0.8962 right_x=0.2681 right_y=0.0033 right_z=0.1208 right_yaw=0.0193 right_pitch=-0.0238 right_roll=-0.0027 right_gripper=0.9998\nstate[joint_eff]: [-0.7043, -10.7419, 5.5316, 0.2857, -0.5739, -0.1587, 0.0122, -0.4171, -0.9231, 7.1316, 1.9316, -0.0806, -0.022, -0.0073]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:11e8d421452e8ebe900920dff215f7eeb0fb304127e708c9359b680a12f5976e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d0c06cdd459a172c3897fcc535cd6b0ed1b539fc380a05e580e79f78d5365f93",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:cb2cfe6b4f72f834c17af1c0181f8360c5c835e3640b6b18fbcc63c1c3913192",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 11 attempt 0 · /messages · status 200 · 31.73 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 25 changed as sent

message 28 changed as sent

message 31 changed as sent

message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7746, 2.4004, 1.7958, -0.9207, -1.0035, -1.5974, 0.8947, -0.0212, 0.6888, 0.4046, -0.3134, -0.0307, -0.0292, 0.9998]\nstate[eef_state]: left_x=0.4339 left_y=-0.2111 left_z=0.0357 left_yaw=0.7957 left_pitch=-0.0038 left_roll=-0.0558 left_gripper=0.8947 right_x=0.2723 right_y=0.0032 right_z=0.1301 right_yaw=0.0174 right_pitch=-0.0291 right_roll=0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.4171, -12.0957, 5.7504, -0.2711, -0.6813, 0.0806, -0.1783, -0.3761, -1.0051, 6.8718, 1.9267, -0.0366, -0.0122, -0.0122]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7059, 2.2574, 2.3585, -1.5532, -0.9989, -1.4799, 0.896, -0.0212, 0.672, 0.3786, -0.2981, -0.0303, -0.033, 0.9998]\nstate[eef_state]: left_x=0.437 left_y=-0.1726 left_z=0.2363 left_yaw=0.801 left_pitch=-0.004 left_roll=-0.03 left_gripper=0.896 right_x=0.2703 right_y=0.0032 right_z=0.1256 right_yaw=0.0191 right_pitch=-0.023 right_roll=-0.0032 right_gripper=0.9998\nstate[joint_eff]: [0.6085, -14.9949, 6.0786, 0.2466, -0.6374, 0.3932, 0.1197, -0.1436, -0.841, 7.0085, 1.9023, -0.0464, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7788, 2.2559, 1.853, -1.2152, -1.0012, -1.6077, 0.8962, -0.0212, 0.6598, 0.358, -0.2905, -0.0307, -0.0326, 0.9998]\nstate[eef_state]: left_x=0.4116 left_y=-0.1921 left_z=0.1106 left_yaw=0.7975 left_pitch=-0.0059 left_roll=0.0283 left_gripper=0.8962 right_x=0.2681 right_y=0.0033 right_z=0.1208 right_yaw=0.0193 right_pitch=-0.0238 right_roll=-0.0027 right_gripper=0.9998\nstate[joint_eff]: [-0.7043, -10.7419, 5.5316, 0.2857, -0.5739, -0.1587, 0.0122, -0.4171, -0.9231, 7.1316, 1.9316, -0.0806, -0.022, -0.0073]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:11e8d421452e8ebe900920dff215f7eeb0fb304127e708c9359b680a12f5976e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d0c06cdd459a172c3897fcc535cd6b0ed1b539fc380a05e580e79f78d5365f93",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cb2cfe6b4f72f834c17af1c0181f8360c5c835e3640b6b18fbcc63c1c3913192",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016xyuBk6PS8pZpotVQoB2VF",
      "input": {
        "note": "Wrist view shows the bottle's neck just above and ~3 cm right of the jaw column; descending to neck height (3.5 cm) with a small shift toward it so the open jaws land astride the neck.",
        "targets": {
          "left_x": 0.394,
          "left_y": -0.21,
          "left_z": 0.035
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_016xyuBk6PS8pZpotVQoB2VF",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8322, 2.3238, 1.7275, -1.0573, -1.0225, -1.6989, 0.8963, -0.0212, 0.6476, 0.337, -0.2901, -0.0307, -0.0326, 0.9998]\nstate[eef_state]: left_x=0.3991 left_y=-0.2091 left_z=0.0553 left_yaw=0.7912 left_pitch=0.0173 left_roll=-0.0143 left_gripper=0.8963 right_x=0.2648 right_y=0.0034 right_z=0.1143 right_yaw=0.0193 right_pitch=-0.0322 right_roll=-0.0023 right_gripper=0.9998\nstate[joint_eff]: [-0.6085, -9.5385, 4.0274, -0.0415, -0.1148, 0.1783, -0.0024, -0.4171, -0.9368, 6.8991, 1.9951, -0.0611, 0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 83):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ffeb8e511c030c9d8aa1feb02e6d11b48714724276510a4cfa6deb632039d91b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 83):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c4878858a2f115aef06929d66356d744fc0d5b045cfddb68faca114e6932358a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 83):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:cedd5923956a0f9bcb67ba034d1752029b31d78e062e609743856e9d508afd17",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 12 attempt 0 · /messages · status 200 · 11.8 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 28 changed as sent

message 31 changed as sent

message 34 changed as sent

message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7059, 2.2574, 2.3585, -1.5532, -0.9989, -1.4799, 0.896, -0.0212, 0.672, 0.3786, -0.2981, -0.0303, -0.033, 0.9998]\nstate[eef_state]: left_x=0.437 left_y=-0.1726 left_z=0.2363 left_yaw=0.801 left_pitch=-0.004 left_roll=-0.03 left_gripper=0.896 right_x=0.2703 right_y=0.0032 right_z=0.1256 right_yaw=0.0191 right_pitch=-0.023 right_roll=-0.0032 right_gripper=0.9998\nstate[joint_eff]: [0.6085, -14.9949, 6.0786, 0.2466, -0.6374, 0.3932, 0.1197, -0.1436, -0.841, 7.0085, 1.9023, -0.0464, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7788, 2.2559, 1.853, -1.2152, -1.0012, -1.6077, 0.8962, -0.0212, 0.6598, 0.358, -0.2905, -0.0307, -0.0326, 0.9998]\nstate[eef_state]: left_x=0.4116 left_y=-0.1921 left_z=0.1106 left_yaw=0.7975 left_pitch=-0.0059 left_roll=0.0283 left_gripper=0.8962 right_x=0.2681 right_y=0.0033 right_z=0.1208 right_yaw=0.0193 right_pitch=-0.0238 right_roll=-0.0027 right_gripper=0.9998\nstate[joint_eff]: [-0.7043, -10.7419, 5.5316, 0.2857, -0.5739, -0.1587, 0.0122, -0.4171, -0.9231, 7.1316, 1.9316, -0.0806, -0.022, -0.0073]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8322, 2.3238, 1.7275, -1.0573, -1.0225, -1.6989, 0.8963, -0.0212, 0.6476, 0.337, -0.2901, -0.0307, -0.0326, 0.9998]\nstate[eef_state]: left_x=0.3991 left_y=-0.2091 left_z=0.0553 left_yaw=0.7912 left_pitch=0.0173 left_roll=-0.0143 left_gripper=0.8963 right_x=0.2648 right_y=0.0034 right_z=0.1143 right_yaw=0.0193 right_pitch=-0.0322 right_roll=-0.0023 right_gripper=0.9998\nstate[joint_eff]: [-0.6085, -9.5385, 4.0274, -0.0415, -0.1148, 0.1783, -0.0024, -0.4171, -0.9368, 6.8991, 1.9951, -0.0611, 0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 83):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ffeb8e511c030c9d8aa1feb02e6d11b48714724276510a4cfa6deb632039d91b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 83):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c4878858a2f115aef06929d66356d744fc0d5b045cfddb68faca114e6932358a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 83):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cedd5923956a0f9bcb67ba034d1752029b31d78e062e609743856e9d508afd17",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QeRLPLVu72cGM7fFyxemJy",
      "input": {
        "note": "The bottles' caps point forward-right, i.e. away from the left arm and toward the right arm, so the left arm only ever reaches the base end. I park the left arm home and bring the right arm over the cap end of the nearest bottle, tool yawed 45° so the jaws straddle the neck.",
        "targets": {
          "left_gripper": 0.9,
          "left_x": 0.25,
          "left_y": 0.0,
          "left_yaw": 0.0,
          "left_z": 0.25,
          "right_gripper": 0.9,
          "right_x": 0.45,
          "right_y": 0.33,
          "right_yaw": 0.785,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 28 steps (2.8s)",
      "tool_use_id": "toolu_01QeRLPLVu72cGM7fFyxemJy",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0826, 0.6769, 0.8192, -0.7322, -0.1665, -0.1455, 0.8984, 0.5709, 1.9053, 1.322, -0.0376, -0.1646, -0.1268, 0.9009]\nstate[eef_state]: left_x=0.2532 left_y=0.012 left_z=0.2358 left_yaw=0.1211 left_pitch=-0.0172 left_roll=-0.0173 left_gripper=0.8984 right_x=0.4394 right_y=0.3208 right_z=0.1345 right_yaw=0.7748 right_pitch=-0.0431 right_roll=-0.0011 right_gripper=0.9009\nstate[joint_eff]: [-0.2256, -0.2803, 9.4154, 1.8291, -0.0513, 0.3101, -0.1783, -0.2667, -10.0171, 9.2376, 1.7607, -0.0708, 0.0659, 0.0757]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 111):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ae527db65ee97b56b9b253d39561908bd4798acd2c7a8d404b56a74d7351c611",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 111):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:62063b5f999107a64d8344540e2cc20ce5ea5da76c21aff858b432f621cb5c94",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 111):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5f20a7f6f759dc6f7b5bb98158c61264fd013e3663ad2292fe00eb00893216ba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 13 attempt 0 · /messages · status 200 · 21.18 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 31 changed as sent

message 34 changed as sent

message 37 changed as sent

message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7788, 2.2559, 1.853, -1.2152, -1.0012, -1.6077, 0.8962, -0.0212, 0.6598, 0.358, -0.2905, -0.0307, -0.0326, 0.9998]\nstate[eef_state]: left_x=0.4116 left_y=-0.1921 left_z=0.1106 left_yaw=0.7975 left_pitch=-0.0059 left_roll=0.0283 left_gripper=0.8962 right_x=0.2681 right_y=0.0033 right_z=0.1208 right_yaw=0.0193 right_pitch=-0.0238 right_roll=-0.0027 right_gripper=0.9998\nstate[joint_eff]: [-0.7043, -10.7419, 5.5316, 0.2857, -0.5739, -0.1587, 0.0122, -0.4171, -0.9231, 7.1316, 1.9316, -0.0806, -0.022, -0.0073]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8322, 2.3238, 1.7275, -1.0573, -1.0225, -1.6989, 0.8963, -0.0212, 0.6476, 0.337, -0.2901, -0.0307, -0.0326, 0.9998]\nstate[eef_state]: left_x=0.3991 left_y=-0.2091 left_z=0.0553 left_yaw=0.7912 left_pitch=0.0173 left_roll=-0.0143 left_gripper=0.8963 right_x=0.2648 right_y=0.0034 right_z=0.1143 right_yaw=0.0193 right_pitch=-0.0322 right_roll=-0.0023 right_gripper=0.9998\nstate[joint_eff]: [-0.6085, -9.5385, 4.0274, -0.0415, -0.1148, 0.1783, -0.0024, -0.4171, -0.9368, 6.8991, 1.9951, -0.0611, 0.0269, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0826, 0.6769, 0.8192, -0.7322, -0.1665, -0.1455, 0.8984, 0.5709, 1.9053, 1.322, -0.0376, -0.1646, -0.1268, 0.9009]\nstate[eef_state]: left_x=0.2532 left_y=0.012 left_z=0.2358 left_yaw=0.1211 left_pitch=-0.0172 left_roll=-0.0173 left_gripper=0.8984 right_x=0.4394 right_y=0.3208 right_z=0.1345 right_yaw=0.7748 right_pitch=-0.0431 right_roll=-0.0011 right_gripper=0.9009\nstate[joint_eff]: [-0.2256, -0.2803, 9.4154, 1.8291, -0.0513, 0.3101, -0.1783, -0.2667, -10.0171, 9.2376, 1.7607, -0.0708, 0.0659, 0.0757]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 111):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ae527db65ee97b56b9b253d39561908bd4798acd2c7a8d404b56a74d7351c611",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 111):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:62063b5f999107a64d8344540e2cc20ce5ea5da76c21aff858b432f621cb5c94",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 111):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5f20a7f6f759dc6f7b5bb98158c61264fd013e3663ad2292fe00eb00893216ba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DWQrfogB18o3NWZz5j1GJP",
      "input": {
        "note": "The right wrist view has a bottle (red label, cap end) at the bottom-right edge, well right of the jaw column; sliding the right arm ~7 cm toward it (tool-right) and lowering slightly to bring it under the jaws.",
        "targets": {
          "right_x": 0.39,
          "right_y": 0.27,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01DWQrfogB18o3NWZz5j1GJP",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1017, 0.6674, 0.8055, -0.7364, -0.1757, -0.1345, 0.8981, 0.5247, 1.7363, 0.9562, 0.0925, -0.1932, -0.1406, 0.901]\nstate[eef_state]: left_x=0.251 left_y=0.009 left_z=0.2313 left_yaw=0.1039 left_pitch=-0.0244 left_roll=-0.0014 left_gripper=0.8981 right_x=0.3863 right_y=0.267 right_z=0.0884 right_yaw=0.7611 right_pitch=-0.1044 right_roll=0.0195 right_gripper=0.901\nstate[joint_eff]: [-0.0479, 0.0205, 6.4889, 1.9609, -0.2466, -0.105, -0.0366, -0.4171, -10.8786, 7.3368, 2.2442, -0.2027, -0.1001, -0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 116):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5f27355de6fdeca6a97d5b3776164107a2448ebe091a0c1cbd6f087b55b6883e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 116):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:67bc581d5328200a9b1520f72b09efd95e81288f321fbf8bc8f82d2a08462e57",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 116):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1db820097c2ebb5ccc487a2a6ee57e0f27657b4a207202d16811e4e9c3b358e4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 14 attempt 0 · /messages · status 200 · 18.12 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 34 changed as sent

message 37 changed as sent

message 40 changed as sent

message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8322, 2.3238, 1.7275, -1.0573, -1.0225, -1.6989, 0.8963, -0.0212, 0.6476, 0.337, -0.2901, -0.0307, -0.0326, 0.9998]\nstate[eef_state]: left_x=0.3991 left_y=-0.2091 left_z=0.0553 left_yaw=0.7912 left_pitch=0.0173 left_roll=-0.0143 left_gripper=0.8963 right_x=0.2648 right_y=0.0034 right_z=0.1143 right_yaw=0.0193 right_pitch=-0.0322 right_roll=-0.0023 right_gripper=0.9998\nstate[joint_eff]: [-0.6085, -9.5385, 4.0274, -0.0415, -0.1148, 0.1783, -0.0024, -0.4171, -0.9368, 6.8991, 1.9951, -0.0611, 0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0826, 0.6769, 0.8192, -0.7322, -0.1665, -0.1455, 0.8984, 0.5709, 1.9053, 1.322, -0.0376, -0.1646, -0.1268, 0.9009]\nstate[eef_state]: left_x=0.2532 left_y=0.012 left_z=0.2358 left_yaw=0.1211 left_pitch=-0.0172 left_roll=-0.0173 left_gripper=0.8984 right_x=0.4394 right_y=0.3208 right_z=0.1345 right_yaw=0.7748 right_pitch=-0.0431 right_roll=-0.0011 right_gripper=0.9009\nstate[joint_eff]: [-0.2256, -0.2803, 9.4154, 1.8291, -0.0513, 0.3101, -0.1783, -0.2667, -10.0171, 9.2376, 1.7607, -0.0708, 0.0659, 0.0757]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1017, 0.6674, 0.8055, -0.7364, -0.1757, -0.1345, 0.8981, 0.5247, 1.7363, 0.9562, 0.0925, -0.1932, -0.1406, 0.901]\nstate[eef_state]: left_x=0.251 left_y=0.009 left_z=0.2313 left_yaw=0.1039 left_pitch=-0.0244 left_roll=-0.0014 left_gripper=0.8981 right_x=0.3863 right_y=0.267 right_z=0.0884 right_yaw=0.7611 right_pitch=-0.1044 right_roll=0.0195 right_gripper=0.901\nstate[joint_eff]: [-0.0479, 0.0205, 6.4889, 1.9609, -0.2466, -0.105, -0.0366, -0.4171, -10.8786, 7.3368, 2.2442, -0.2027, -0.1001, -0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 116):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5f27355de6fdeca6a97d5b3776164107a2448ebe091a0c1cbd6f087b55b6883e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 116):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:67bc581d5328200a9b1520f72b09efd95e81288f321fbf8bc8f82d2a08462e57",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 116):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1db820097c2ebb5ccc487a2a6ee57e0f27657b4a207202d16811e4e9c3b358e4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0172Lp6MyXtMb1Pz1WPFXx1x",
      "input": {
        "note": "In the right wrist view this bottle's axis leans the opposite way to what I assumed, so I rotate the tool back to about 0 rad, which should make the bottle appear vertical in the image and put the jaws perpendicular to its axis.",
        "targets": {
          "right_yaw": -0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_0172Lp6MyXtMb1Pz1WPFXx1x",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1055, 0.6529, 0.7849, -0.7307, -0.1841, -0.1345, 0.8981, 0.8478, 1.8713, 1.0645, 0.0254, 0.5716, 0.4557, 0.9011]\nstate[eef_state]: left_x=0.2492 left_y=0.0097 left_z=0.2269 left_yaw=0.1071 left_pitch=-0.0238 left_roll=0.0033 left_gripper=0.8981 right_x=0.3775 right_y=0.2888 right_z=0.0749 right_yaw=0.1285 right_pitch=-0.066 right_roll=-0.0227 right_gripper=0.9011\nstate[joint_eff]: [-0.3761, -0.3761, 6.2974, 1.873, -0.1001, -0.0366, -0.0122, 0.1299, -9.3333, 7.5556, 1.37, 0.4762, 0.1832, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ee518e8b6a9cf02357f412c47c0d5ae558f8cb5815fe6d28cb7b2e34a05fa33d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f29bc2b3645ac51dee36b46c69e4efc9dfe24f6e4c49581a9802ed4ae8bc9ace",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 122):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:84f45d2701cd21b7939f4e2e0f30af6d1d4e3d2c8fcbf6931e872fcd9ad121f8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 15 attempt 0 · /messages · status 200 · 5.82 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 37 changed as sent

message 40 changed as sent

message 43 changed as sent

message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0826, 0.6769, 0.8192, -0.7322, -0.1665, -0.1455, 0.8984, 0.5709, 1.9053, 1.322, -0.0376, -0.1646, -0.1268, 0.9009]\nstate[eef_state]: left_x=0.2532 left_y=0.012 left_z=0.2358 left_yaw=0.1211 left_pitch=-0.0172 left_roll=-0.0173 left_gripper=0.8984 right_x=0.4394 right_y=0.3208 right_z=0.1345 right_yaw=0.7748 right_pitch=-0.0431 right_roll=-0.0011 right_gripper=0.9009\nstate[joint_eff]: [-0.2256, -0.2803, 9.4154, 1.8291, -0.0513, 0.3101, -0.1783, -0.2667, -10.0171, 9.2376, 1.7607, -0.0708, 0.0659, 0.0757]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1017, 0.6674, 0.8055, -0.7364, -0.1757, -0.1345, 0.8981, 0.5247, 1.7363, 0.9562, 0.0925, -0.1932, -0.1406, 0.901]\nstate[eef_state]: left_x=0.251 left_y=0.009 left_z=0.2313 left_yaw=0.1039 left_pitch=-0.0244 left_roll=-0.0014 left_gripper=0.8981 right_x=0.3863 right_y=0.267 right_z=0.0884 right_yaw=0.7611 right_pitch=-0.1044 right_roll=0.0195 right_gripper=0.901\nstate[joint_eff]: [-0.0479, 0.0205, 6.4889, 1.9609, -0.2466, -0.105, -0.0366, -0.4171, -10.8786, 7.3368, 2.2442, -0.2027, -0.1001, -0.0024]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1055, 0.6529, 0.7849, -0.7307, -0.1841, -0.1345, 0.8981, 0.8478, 1.8713, 1.0645, 0.0254, 0.5716, 0.4557, 0.9011]\nstate[eef_state]: left_x=0.2492 left_y=0.0097 left_z=0.2269 left_yaw=0.1071 left_pitch=-0.0238 left_roll=0.0033 left_gripper=0.8981 right_x=0.3775 right_y=0.2888 right_z=0.0749 right_yaw=0.1285 right_pitch=-0.066 right_roll=-0.0227 right_gripper=0.9011\nstate[joint_eff]: [-0.3761, -0.3761, 6.2974, 1.873, -0.1001, -0.0366, -0.0122, 0.1299, -9.3333, 7.5556, 1.37, 0.4762, 0.1832, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ee518e8b6a9cf02357f412c47c0d5ae558f8cb5815fe6d28cb7b2e34a05fa33d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f29bc2b3645ac51dee36b46c69e4efc9dfe24f6e4c49581a9802ed4ae8bc9ace",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:84f45d2701cd21b7939f4e2e0f30af6d1d4e3d2c8fcbf6931e872fcd9ad121f8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012V5Qeti3TovAU61bVU7DbV",
      "input": {
        "note": "Both bottles now appear axis-vertical in the right wrist view with caps far forward, out of reach at table level. Plan: grip this bottle across its body, lift and yaw it 90° so its cap end swings into reach. First I advance 4 cm and drop to body height.",
        "targets": {
          "right_x": 0.42,
          "right_y": 0.295,
          "right_z": 0.035
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_012V5Qeti3TovAU61bVU7DbV",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1055, 0.6346, 0.7654, -0.7231, -0.1841, -0.1345, 0.8981, 0.7898, 2.0422, 1.0641, 0.2054, 0.5797, 0.4152, 0.9011]\nstate[eef_state]: left_x=0.2473 left_y=0.0099 left_z=0.2241 left_yaw=0.1071 left_pitch=-0.0175 left_roll=0.002 left_gripper=0.8981 right_x=0.4059 right_y=0.2772 right_z=0.0256 right_yaw=0.0867 right_pitch=-0.0566 right_roll=-0.054 right_gripper=0.9011\nstate[joint_eff]: [-0.4308, 0.2667, 6.2701, 1.8974, -0.105, -0.0269, -0.0122, -0.2393, -9.5385, 7.8701, 1.6532, 0.1734, 0.1685, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 126):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:05f5475e7cb37407becc69535825a299345ce0f2c30d1e90304b640a9a6b2258",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 126):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:44d17ec764e5e4f3dc3203dcb9809adb858ba8753dae6ac172a7a75fa4268a13",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 126):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a8a875a7cc3e3f635330fec6e9bc737fc22a3638a39e16d2e5c78ec992cf7fdf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 16 attempt 0 · /messages · status 200 · 13.66 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 40 changed as sent

message 43 changed as sent

message 46 changed as sent

message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1017, 0.6674, 0.8055, -0.7364, -0.1757, -0.1345, 0.8981, 0.5247, 1.7363, 0.9562, 0.0925, -0.1932, -0.1406, 0.901]\nstate[eef_state]: left_x=0.251 left_y=0.009 left_z=0.2313 left_yaw=0.1039 left_pitch=-0.0244 left_roll=-0.0014 left_gripper=0.8981 right_x=0.3863 right_y=0.267 right_z=0.0884 right_yaw=0.7611 right_pitch=-0.1044 right_roll=0.0195 right_gripper=0.901\nstate[joint_eff]: [-0.0479, 0.0205, 6.4889, 1.9609, -0.2466, -0.105, -0.0366, -0.4171, -10.8786, 7.3368, 2.2442, -0.2027, -0.1001, -0.0024]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1055, 0.6529, 0.7849, -0.7307, -0.1841, -0.1345, 0.8981, 0.8478, 1.8713, 1.0645, 0.0254, 0.5716, 0.4557, 0.9011]\nstate[eef_state]: left_x=0.2492 left_y=0.0097 left_z=0.2269 left_yaw=0.1071 left_pitch=-0.0238 left_roll=0.0033 left_gripper=0.8981 right_x=0.3775 right_y=0.2888 right_z=0.0749 right_yaw=0.1285 right_pitch=-0.066 right_roll=-0.0227 right_gripper=0.9011\nstate[joint_eff]: [-0.3761, -0.3761, 6.2974, 1.873, -0.1001, -0.0366, -0.0122, 0.1299, -9.3333, 7.5556, 1.37, 0.4762, 0.1832, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1055, 0.6346, 0.7654, -0.7231, -0.1841, -0.1345, 0.8981, 0.7898, 2.0422, 1.0641, 0.2054, 0.5797, 0.4152, 0.9011]\nstate[eef_state]: left_x=0.2473 left_y=0.0099 left_z=0.2241 left_yaw=0.1071 left_pitch=-0.0175 left_roll=0.002 left_gripper=0.8981 right_x=0.4059 right_y=0.2772 right_z=0.0256 right_yaw=0.0867 right_pitch=-0.0566 right_roll=-0.054 right_gripper=0.9011\nstate[joint_eff]: [-0.4308, 0.2667, 6.2701, 1.8974, -0.105, -0.0269, -0.0122, -0.2393, -9.5385, 7.8701, 1.6532, 0.1734, 0.1685, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 126):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:05f5475e7cb37407becc69535825a299345ce0f2c30d1e90304b640a9a6b2258",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 126):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:44d17ec764e5e4f3dc3203dcb9809adb858ba8753dae6ac172a7a75fa4268a13",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 126):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a8a875a7cc3e3f635330fec6e9bc737fc22a3638a39e16d2e5c78ec992cf7fdf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISmgUKjgEIEhgCKkAwgTgyr6jhFoEkkKok5C3eER+G7XY7dSqZM7LyqMCDqiMImMjQRRj1YKAvbFiT7og607ZFS2vU03lZtvaIKTRLMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAaCezNUGEgyQTigIdeLU/AwFFocaDOFTtLX0inkCQB1YCyIwnI2tytjnowBfd1oxd9ABZiEHWfc+g6g44AKdArXTprt+cLRpZvF8jQZyeD+GUwJ7KrgDpae1gUhoHamHVx4seOUr0awazWc2sYxQfFEB3L3NHYKLp4SJO2wcsZdqsEe7v2WTAvKjdvovPgMyhAi8V+/WP+oAJoKo/z7ha3AFnLtNfTq0WoKd6pHG90aoz05fES4EfPUu3C6nhjWw9p9vu/mkNzuHDWa9PbEUL7s+onZdd4/6nu+bRAFnr59ER945sS3xg9nTf0KK1Erveu8lFpLH9d8u2FsQ4vAdpRfBtKvH9eRZ/ZzDy4WkoTj7gNmgJ+Py3ED1s6kmBvnUA5rMjgl5FPhWf+BkvYq56lYvZFND627Ea8bHGdtap+SDMm/PoydxhOcyp6ZJpJeAUlXMW655jCUKs9Db4sPCYS7dY6/WYmxISj1d7qeV7gBJsyzqSOSsdeh7ckeNYNkfCqWtYmkLRMLcDmGAd6+3+gLga76+r1M1phRN4Ie/5HdenU11dKzMt7DWSM70O9k7lo8nr7e8MkD8ij8QL5qefFwTxdV6nQnaGtepJjod6eN7bW7E3vJF+VKUxWF24BZlvl3bOfI8H+/CidvWCKxZSc2mbHVX7nDeIKvwP2V9Sx2qwF2VWpppngdNFQoiDmEYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01YSRvvPdqcSZLuJtdgjUnuY",
      "input": {
        "note": "The bottle is centred on the jaw column at body height; closing the jaws firmly on its body so I can lift and rotate it.",
        "targets": {
          "right_gripper": 0.35
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01YSRvvPdqcSZLuJtdgjUnuY",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1055, 0.6224, 0.7513, -0.7151, -0.1844, -0.1345, 0.8981, 0.7849, 2.064, 1.0687, 0.2577, 0.5262, 0.3752, 0.5592]\nstate[eef_state]: left_x=0.2464 left_y=0.0101 left_z=0.2223 left_yaw=0.1074 left_pitch=-0.0115 left_roll=0.0009 left_gripper=0.8981 right_x=0.4094 right_y=0.2887 right_z=0.022 right_yaw=0.145 right_pitch=-0.0529 right_roll=-0.036 right_gripper=0.5592\nstate[joint_eff]: [-0.4308, 0.1573, 6.5436, 1.8046, -0.1294, -0.0562, -0.0122, -0.4991, -9.9624, 7.3094, 1.9414, 0.2808, 0.0562, 0.862]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dea6ddc743a20980f5bb6195a02532ab181f7ed0193b33214f04ce00f551858c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5a1e2289690fcc160006b0322f01eca002942f1def6cfd9922933cecb3c739b9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c553fa5828cb3d167c728c987f019b8690d18ba11c3d6a5baea3f5c87af301a8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 17 attempt 0 · /messages · status 200 · 10.12 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 43 changed as sent

message 46 changed as sent

message 49 changed as sent

message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1055, 0.6529, 0.7849, -0.7307, -0.1841, -0.1345, 0.8981, 0.8478, 1.8713, 1.0645, 0.0254, 0.5716, 0.4557, 0.9011]\nstate[eef_state]: left_x=0.2492 left_y=0.0097 left_z=0.2269 left_yaw=0.1071 left_pitch=-0.0238 left_roll=0.0033 left_gripper=0.8981 right_x=0.3775 right_y=0.2888 right_z=0.0749 right_yaw=0.1285 right_pitch=-0.066 right_roll=-0.0227 right_gripper=0.9011\nstate[joint_eff]: [-0.3761, -0.3761, 6.2974, 1.873, -0.1001, -0.0366, -0.0122, 0.1299, -9.3333, 7.5556, 1.37, 0.4762, 0.1832, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1055, 0.6346, 0.7654, -0.7231, -0.1841, -0.1345, 0.8981, 0.7898, 2.0422, 1.0641, 0.2054, 0.5797, 0.4152, 0.9011]\nstate[eef_state]: left_x=0.2473 left_y=0.0099 left_z=0.2241 left_yaw=0.1071 left_pitch=-0.0175 left_roll=0.002 left_gripper=0.8981 right_x=0.4059 right_y=0.2772 right_z=0.0256 right_yaw=0.0867 right_pitch=-0.0566 right_roll=-0.054 right_gripper=0.9011\nstate[joint_eff]: [-0.4308, 0.2667, 6.2701, 1.8974, -0.105, -0.0269, -0.0122, -0.2393, -9.5385, 7.8701, 1.6532, 0.1734, 0.1685, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1055, 0.6224, 0.7513, -0.7151, -0.1844, -0.1345, 0.8981, 0.7849, 2.064, 1.0687, 0.2577, 0.5262, 0.3752, 0.5592]\nstate[eef_state]: left_x=0.2464 left_y=0.0101 left_z=0.2223 left_yaw=0.1074 left_pitch=-0.0115 left_roll=0.0009 left_gripper=0.8981 right_x=0.4094 right_y=0.2887 right_z=0.022 right_yaw=0.145 right_pitch=-0.0529 right_roll=-0.036 right_gripper=0.5592\nstate[joint_eff]: [-0.4308, 0.1573, 6.5436, 1.8046, -0.1294, -0.0562, -0.0122, -0.4991, -9.9624, 7.3094, 1.9414, 0.2808, 0.0562, 0.862]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dea6ddc743a20980f5bb6195a02532ab181f7ed0193b33214f04ce00f551858c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5a1e2289690fcc160006b0322f01eca002942f1def6cfd9922933cecb3c739b9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c553fa5828cb3d167c728c987f019b8690d18ba11c3d6a5baea3f5c87af301a8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JtRYe2ezTC5vGuNpU6BpMQ",
      "input": {
        "note": "The jaws settled at 5.3 cm with grip effort, so the bottle's body is held. Lifting it 14 cm and yawing the tool 90° to swing the bottle's cap end from 'far forward' round to the arm's left, where I can reach the neck.",
        "targets": {
          "right_yaw": 1.57,
          "right_z": 0.14
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01JtRYe2ezTC5vGuNpU6BpMQ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1051, 0.6155, 0.7448, -0.7151, -0.1844, -0.1345, 0.8981, 0.2848, 2.0636, 1.5558, -0.4335, -0.1661, -0.3847, 0.5636]\nstate[eef_state]: left_x=0.2453 left_y=0.0103 left_z=0.2209 left_yaw=0.1078 left_pitch=-0.0111 left_roll=0.0008 left_gripper=0.8981 right_x=0.5014 right_y=0.1809 right_z=0.0806 right_yaw=0.6515 right_pitch=-0.3587 right_roll=-0.0976 right_gripper=0.5636\nstate[joint_eff]: [-0.1436, 0.3897, 6.2154, 1.8535, -0.1343, -0.0269, -0.0122, 2.3726, -11.7812, 8.7453, 1.326, -0.442, 0.0904, 0.4518]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 142):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e59fe61e64842c72287f0870c3d09b19692574d7ff076e87ffcda9a363b1967e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 142):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e544fb82df7b462404a48d3f059a727f571b6c7b696ccb669ac06d16c8c08484",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 142):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:29a51942d6aa92936cc9cc6e49ed37cee91a22f9e032300d8e5dc13455cfb22d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 18 attempt 0 · /messages · status 200 · 8.216 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 46 changed as sent

message 49 changed as sent

message 52 changed as sent

message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1055, 0.6346, 0.7654, -0.7231, -0.1841, -0.1345, 0.8981, 0.7898, 2.0422, 1.0641, 0.2054, 0.5797, 0.4152, 0.9011]\nstate[eef_state]: left_x=0.2473 left_y=0.0099 left_z=0.2241 left_yaw=0.1071 left_pitch=-0.0175 left_roll=0.002 left_gripper=0.8981 right_x=0.4059 right_y=0.2772 right_z=0.0256 right_yaw=0.0867 right_pitch=-0.0566 right_roll=-0.054 right_gripper=0.9011\nstate[joint_eff]: [-0.4308, 0.2667, 6.2701, 1.8974, -0.105, -0.0269, -0.0122, -0.2393, -9.5385, 7.8701, 1.6532, 0.1734, 0.1685, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1055, 0.6224, 0.7513, -0.7151, -0.1844, -0.1345, 0.8981, 0.7849, 2.064, 1.0687, 0.2577, 0.5262, 0.3752, 0.5592]\nstate[eef_state]: left_x=0.2464 left_y=0.0101 left_z=0.2223 left_yaw=0.1074 left_pitch=-0.0115 left_roll=0.0009 left_gripper=0.8981 right_x=0.4094 right_y=0.2887 right_z=0.022 right_yaw=0.145 right_pitch=-0.0529 right_roll=-0.036 right_gripper=0.5592\nstate[joint_eff]: [-0.4308, 0.1573, 6.5436, 1.8046, -0.1294, -0.0562, -0.0122, -0.4991, -9.9624, 7.3094, 1.9414, 0.2808, 0.0562, 0.862]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1051, 0.6155, 0.7448, -0.7151, -0.1844, -0.1345, 0.8981, 0.2848, 2.0636, 1.5558, -0.4335, -0.1661, -0.3847, 0.5636]\nstate[eef_state]: left_x=0.2453 left_y=0.0103 left_z=0.2209 left_yaw=0.1078 left_pitch=-0.0111 left_roll=0.0008 left_gripper=0.8981 right_x=0.5014 right_y=0.1809 right_z=0.0806 right_yaw=0.6515 right_pitch=-0.3587 right_roll=-0.0976 right_gripper=0.5636\nstate[joint_eff]: [-0.1436, 0.3897, 6.2154, 1.8535, -0.1343, -0.0269, -0.0122, 2.3726, -11.7812, 8.7453, 1.326, -0.442, 0.0904, 0.4518]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 142):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e59fe61e64842c72287f0870c3d09b19692574d7ff076e87ffcda9a363b1967e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 142):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e544fb82df7b462404a48d3f059a727f571b6c7b696ccb669ac06d16c8c08484",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 142):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:29a51942d6aa92936cc9cc6e49ed37cee91a22f9e032300d8e5dc13455cfb22d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISvAsKjgEIEhgCKkCA79kJtRoPjwU9eMsFcp4x5DoWdSG6tJq5yPkRcIDwm1wjdH2d4wCpswn8o4hoKWTOA1z9d896W76T+dZI26G9Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbiezNUGEgxatAIkfR9FHnUO3DQaDFxLU1E0XQCyln+FUSIwy1JM9dXWGk57xBlUA6qNPAV+mAyfFMdbT0qtUXVnjLFtKH39NNkZY65YuYOnvvnVKtoJY9hj4gf29pOaYu4PEzMof3VF+YI5B1AkDkiM9+K35I0/Zbg3ChStOZvxKhPl+cnEOyryz9pJmE3ARFOjzCyDYhscOD1BDNlKmyv0ZWgPSIUPPmaSjlO98UgX+tQy7QAyVFhC9xoydKJMeZkfB01zjkkvtAhW+qN6rus3eCTuz7k3eSyYZ7x7ov3Lrg9tReasnyzL6zi2haFW2hTu5ImbyGYTP+fmOl8an/fv2Iott+BS+wbFsVWu/M+DXh3ld0ZExJ2J5zJNc/n+Jn7qIWCgPQUsmRd+Rod8UfkmX15XLSHGsHczIoulwzjJ9puVe2Z5m0hmiYRgQ/nMjZo3Rit/w2OjlymOa69/saADnoIt2iggkWUfrR218XI8Mx1BqRc02qjUuupo0S217nAxoohJAu4BRF/RalVnU4DuVkVslOA/1a22JwJeEzrznvNLipZPJTw/Yn4k5SDiwtyLQTyfJlB5Lu6SS6nMrlPdP/bDXJGNTJ5ADAFAyy4ZoGe9fksUzzHYEaGxNZHj03+E3gQ5dz5AQrmqdTPQnOaQzkgU5WF9mLbqOKP24tRX8PxwMP+hYA1lxB0GMs3h6RGTfr/W8wHUmad0UKAAfC4Yu64WaYxb7TmobvaN9tkS+Uw592u331MSrmdokH5iUxi0nWDdVKQlXxTA+FmDoahx0CUpSwDYPkx1HSzREDcuTpqaGiXliz0hvr/gEU29VDzqpX2XBea2rGB/GcXwUGM5xdSL2l75VzpO+GAUHRCwHZkeODbsvtWAiGTyE2ntwqfT+HnWbeishFL5uK5tDvguX527tFucC55hMceV+nXMvEXNZqWNz/pdh3lD3VLDY/SJzIpitXh/dK1/63qmizDHc0qyDY5OvJrRBzUvHdFmhQAMOEz8qTermJNlIuijqS8CImnF4pn22pU8YtqmM2yOZtGfktF2hDLUh6qweha4R/StM4wItVqtlJtgdqqWjBxE3dlc7BdJV3Oe9pojD3vJvd3XLeEXnYAQp3mdFjBA+pX7YDGaTrxNjk4O3/0b7o4F4jnZ/WC+4R/30JeWoYmUOkOGGtKTMf2UqjbyUsOENWDenPG4UsNRnIHMMJZm3YXothF1EBO74OJs0PV3vQxkpcrse2stCe+XY+g+VOOGaqiEpzliySfCQoLkJEVT1j6ScZu/UeL2o24NmORfznkJopgRWgvdcs+yTS+LoPujyZcU4fDFh71j4Wi8+UaaTX/0S4qNzL4U7saRMve4mU9CQuwMSp2XCMn88ESAjFpNwyfL5FpY98sZuwmtjLw9pP9sop9+yI+LT1HTGpQRnaaVHUsl8N6v9+7K0OWJygihmYWwgy/8LRtgJr66g9XiQzecWJJawdQ+1Ja5Pu3T4HA9nSp7CcBFzAePI5KY6ZdyfEclNEgDYu7bF80zJeKnnk2528QPF2xicKZhGSjR21lu6n15eextwZl7F76/gUsLWhe+2bq5VMEr0fmnZXSvNDzHI9Q9nfDcm0toTRQD9DK7Q5X7Y/B8YwRq7DiB3XrI5+wLr3vD0bkepEfQ5p+xj/k8UcEJbq4pulcfVywlpBeCkZzrV1oPtKVWkEq7MS6jtmECz/QfW0nWBmpdmpu0sFYAmrVEYBRqkvJMmv8MKduVWC5atABjcdQrtSTPyqQeGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QyX8X5ChYNyu6wH7ZXfwb7",
      "input": {
        "note": "The 90° yaw was tracked poorly by the IK, so instead I keep the bottle pointing forward and carry it ~10 cm back toward the base; that alone brings its cap end into comfortable reach for the neck grasp.",
        "targets": {
          "right_x": 0.3,
          "right_y": 0.28,
          "right_yaw": 0.1,
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 16 steps (1.6s)",
      "tool_use_id": "toolu_01QyX8X5ChYNyu6wH7ZXfwb7",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1055, 0.6094, 0.7441, -0.7143, -0.1844, -0.1345, 0.8981, 1.0172, 1.6783, 0.8185, -0.0425, 0.6254, 0.524, 0.5678]\nstate[eef_state]: left_x=0.2448 left_y=0.0103 left_z=0.2221 left_yaw=0.1074 left_pitch=-0.0051 left_roll=-0.0005 left_gripper=0.8981 right_x=0.2878 right_y=0.2758 right_z=0.0607 right_yaw=0.2143 right_pitch=-0.1239 right_roll=-0.0816 right_gripper=0.5678\nstate[joint_eff]: [-0.4444, 0.0615, 5.8872, 1.8291, -0.1343, -0.0269, -0.0122, 0.1299, -9.3333, 10.0581, 1.9121, 0.6862, 0.0659, 0.4322]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7f681848d0a0d8cb612a448bba0218421e11d87502a77bff0db115d6cd4c7470",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2e539a158dbba689a5ddf23c565261bfd01e9203ecff53ad90c04913b57bace6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 158):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3794922de2a08b4a7633cb9f8f96d5234347b3914ce03cbdf13d5e045ddeb713",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 19 attempt 0 · /messages · status 200 · 12.3 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 49 changed as sent

message 52 changed as sent

message 55 changed as sent

message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1055, 0.6224, 0.7513, -0.7151, -0.1844, -0.1345, 0.8981, 0.7849, 2.064, 1.0687, 0.2577, 0.5262, 0.3752, 0.5592]\nstate[eef_state]: left_x=0.2464 left_y=0.0101 left_z=0.2223 left_yaw=0.1074 left_pitch=-0.0115 left_roll=0.0009 left_gripper=0.8981 right_x=0.4094 right_y=0.2887 right_z=0.022 right_yaw=0.145 right_pitch=-0.0529 right_roll=-0.036 right_gripper=0.5592\nstate[joint_eff]: [-0.4308, 0.1573, 6.5436, 1.8046, -0.1294, -0.0562, -0.0122, -0.4991, -9.9624, 7.3094, 1.9414, 0.2808, 0.0562, 0.862]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1051, 0.6155, 0.7448, -0.7151, -0.1844, -0.1345, 0.8981, 0.2848, 2.0636, 1.5558, -0.4335, -0.1661, -0.3847, 0.5636]\nstate[eef_state]: left_x=0.2453 left_y=0.0103 left_z=0.2209 left_yaw=0.1078 left_pitch=-0.0111 left_roll=0.0008 left_gripper=0.8981 right_x=0.5014 right_y=0.1809 right_z=0.0806 right_yaw=0.6515 right_pitch=-0.3587 right_roll=-0.0976 right_gripper=0.5636\nstate[joint_eff]: [-0.1436, 0.3897, 6.2154, 1.8535, -0.1343, -0.0269, -0.0122, 2.3726, -11.7812, 8.7453, 1.326, -0.442, 0.0904, 0.4518]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1055, 0.6094, 0.7441, -0.7143, -0.1844, -0.1345, 0.8981, 1.0172, 1.6783, 0.8185, -0.0425, 0.6254, 0.524, 0.5678]\nstate[eef_state]: left_x=0.2448 left_y=0.0103 left_z=0.2221 left_yaw=0.1074 left_pitch=-0.0051 left_roll=-0.0005 left_gripper=0.8981 right_x=0.2878 right_y=0.2758 right_z=0.0607 right_yaw=0.2143 right_pitch=-0.1239 right_roll=-0.0816 right_gripper=0.5678\nstate[joint_eff]: [-0.4444, 0.0615, 5.8872, 1.8291, -0.1343, -0.0269, -0.0122, 0.1299, -9.3333, 10.0581, 1.9121, 0.6862, 0.0659, 0.4322]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7f681848d0a0d8cb612a448bba0218421e11d87502a77bff0db115d6cd4c7470",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2e539a158dbba689a5ddf23c565261bfd01e9203ecff53ad90c04913b57bace6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3794922de2a08b4a7633cb9f8f96d5234347b3914ce03cbdf13d5e045ddeb713",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISpQgKjgEIEhgCKkCWR7EPWG89HYBDiqdF+1WDEWxoKHS8VCqd4dDPUuBs5tQcjGNvF1ozGm6JkirkpcSwKMPLE+DRA6p+thU8sCDvMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcKezNUGEgwKGnVjhiJheCoLfHwaDN1EHIhy9ilRgkIIYyIwEmTtvOuM/0I9OiRaDIQTQLYD1P/QXzsWQ2sVkWS3NHhHsAiNO/o+hViQOmGcXUptKsMGK/LBMOywl/eFjpzK23I4Q9FRUEMbaT11389Vl6+LDx5ysB4/CBKqFFLG0Hp0hPtqerx11Kvpq1fhmawE+kpz7BP57m7hHh8QgYi2fLjQs7P9XF0b7gGbzZWvOoyl9L/PxVcHZwXYJ+xiThfiW2FaKFXqXxwuNzF9zRchCPIsqJRrzCqlnkzPaIQ42Sm70uCIAabdBP0ta53X1HSEJOmvfzk01uPyAwoJzbfgGTC+dINrWDx8EWHrferX+EBws1ac7No8+m+V1MA2jvm9QYrw6HAqMFGewK22dbB3dMHTtluIcbFou0Qh4qefP4kl1d8RamZs5xTFyZEs5SkXlAWIuSeDBEnfIRfbnMru+wEzAkQt9W01YGrdV0EoiCbPqSHgXGhA1P6I/qyHhXCQgIhkVnKVTNHR9sphD42ERCiTNg4/7UP19foeoH6UYBlnnInqRV1+21tXCxPtMrCTv3XxLgdx22gobwOJiC6/nRq0ks8r+WRo/OkKyDH5yqsIt5h/v3/hj/5RbZZbBUUft/E9mNI4QXOGA36S4bbyRRLa4AYCtGMWi4MOn0FhKupKLhR4qgzx01KjBF2RYnb6xEHXJ0EbDCOoGMF1WJwRFYN2Gr59sGkfSDStkT0j1jAungQdwRlPbPo2D/Je1f6912I9VdcVwQFZGOeQlVt9shiLxSM59+gTwBAU1JgV5+5WBexv2nLdecus31kKVhsWDWsHgjaOCPi+eestEM/zFiN8unup59vAhhf6e970wusZtQ4m0uo0IqmvkZsUteVXujgB/u2XDqDMyEq1t+UpSfTiRwMUi56zu5OqAqKPWj8oCb4PVwheX/pMDerQqiNydADS7F1pM+ubqy5hrZ+n4ic23qsnZl54IdmQY7p85msHW3V2OzkgT0nOf3ea5jEbd2GvlGaPxvyEDG71cth2NbJm73Qgxf6sf3X2zG/rJN36k1QtQqO3MA039S/R9sJ3PW/uolRKxuLRVI08DmaJzfh/aOASF/nTk4JWuIcVVIlAh7+teY+z600DhstNDZYaAbO8zeU8PTN1CjSgabYp4/Nk+VJoD4JX7o2Z/Z5L9itg/bXL0ShJi9lVIHFfW0tkGWSDVSBZJRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NBBYyBYwTrVNzszKD9ySVW",
      "input": {
        "note": "The bottle is now held pointing forward, closer to the base. Lowering it to the table and opening the jaws to release, so I can re-grasp it loosely by the neck.",
        "targets": {
          "right_gripper": 0.9,
          "right_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01NBBYyBYwTrVNzszKD9ySVW",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1055, 0.609, 0.7441, -0.7151, -0.1844, -0.1345, 0.8981, 1.0321, 1.8065, 0.6228, 0.2977, 0.6643, 0.5262, 0.8964]\nstate[eef_state]: left_x=0.2446 left_y=0.0103 left_z=0.2221 left_yaw=0.1074 left_pitch=-0.0055 left_roll=-0.0004 left_gripper=0.8981 right_x=0.2761 right_y=0.2567 right_z=0.0026 right_yaw=0.2027 right_pitch=-0.0905 right_roll=-0.0887 right_gripper=0.8964\nstate[joint_eff]: [-0.4444, 0.253, 6.188, 1.7607, -0.1148, -0.0073, -0.0122, -0.1162, -7.0632, 5.094, 1.6288, 0.2662, -0.0806, -0.1001]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 162):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6926d1388cfd77bcceeefd0e7ac89e56a2d0ae9d6764143a4a79345b8e921354",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 162):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:869ce91d6408dbdec922073e1951c8c60e5e62a33cfbc67d3f5153b29b763f9e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 162):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bd25cca8c7d84dcd90aa2ea712ee734d8237f8e2f307248aa338748f054fa523",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 20 attempt 0 · /messages · status 200 · 8.556 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 52 changed as sent

message 55 changed as sent

message 58 changed as sent

message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1051, 0.6155, 0.7448, -0.7151, -0.1844, -0.1345, 0.8981, 0.2848, 2.0636, 1.5558, -0.4335, -0.1661, -0.3847, 0.5636]\nstate[eef_state]: left_x=0.2453 left_y=0.0103 left_z=0.2209 left_yaw=0.1078 left_pitch=-0.0111 left_roll=0.0008 left_gripper=0.8981 right_x=0.5014 right_y=0.1809 right_z=0.0806 right_yaw=0.6515 right_pitch=-0.3587 right_roll=-0.0976 right_gripper=0.5636\nstate[joint_eff]: [-0.1436, 0.3897, 6.2154, 1.8535, -0.1343, -0.0269, -0.0122, 2.3726, -11.7812, 8.7453, 1.326, -0.442, 0.0904, 0.4518]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1055, 0.6094, 0.7441, -0.7143, -0.1844, -0.1345, 0.8981, 1.0172, 1.6783, 0.8185, -0.0425, 0.6254, 0.524, 0.5678]\nstate[eef_state]: left_x=0.2448 left_y=0.0103 left_z=0.2221 left_yaw=0.1074 left_pitch=-0.0051 left_roll=-0.0005 left_gripper=0.8981 right_x=0.2878 right_y=0.2758 right_z=0.0607 right_yaw=0.2143 right_pitch=-0.1239 right_roll=-0.0816 right_gripper=0.5678\nstate[joint_eff]: [-0.4444, 0.0615, 5.8872, 1.8291, -0.1343, -0.0269, -0.0122, 0.1299, -9.3333, 10.0581, 1.9121, 0.6862, 0.0659, 0.4322]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1055, 0.609, 0.7441, -0.7151, -0.1844, -0.1345, 0.8981, 1.0321, 1.8065, 0.6228, 0.2977, 0.6643, 0.5262, 0.8964]\nstate[eef_state]: left_x=0.2446 left_y=0.0103 left_z=0.2221 left_yaw=0.1074 left_pitch=-0.0055 left_roll=-0.0004 left_gripper=0.8981 right_x=0.2761 right_y=0.2567 right_z=0.0026 right_yaw=0.2027 right_pitch=-0.0905 right_roll=-0.0887 right_gripper=0.8964\nstate[joint_eff]: [-0.4444, 0.253, 6.188, 1.7607, -0.1148, -0.0073, -0.0122, -0.1162, -7.0632, 5.094, 1.6288, 0.2662, -0.0806, -0.1001]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 162):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6926d1388cfd77bcceeefd0e7ac89e56a2d0ae9d6764143a4a79345b8e921354",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 162):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:869ce91d6408dbdec922073e1951c8c60e5e62a33cfbc67d3f5153b29b763f9e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 162):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bd25cca8c7d84dcd90aa2ea712ee734d8237f8e2f307248aa338748f054fa523",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DyoayZaEdar4jkbFdeE2mr",
      "input": {
        "note": "Bottle released lying forward with its cap end now within reach. Moving the open jaws to just above where its neck should be (~11 cm forward of the release point) to check alignment in the wrist view.",
        "targets": {
          "right_gripper": 0.9,
          "right_x": 0.37,
          "right_y": 0.275,
          "right_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01DyoayZaEdar4jkbFdeE2mr",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1055, 0.609, 0.7441, -0.7155, -0.1841, -0.1345, 0.8981, 0.8352, 1.8473, 0.8082, 0.3588, 0.519, 0.3676, 0.9002]\nstate[eef_state]: left_x=0.2446 left_y=0.0102 left_z=0.222 left_yaw=0.1071 left_pitch=-0.0059 left_roll=-0.0005 left_gripper=0.8981 right_x=0.3588 right_y=0.2712 right_z=0.0448 right_yaw=0.2061 right_pitch=-0.0097 right_roll=-0.0045 right_gripper=0.9002\nstate[joint_eff]: [-0.2667, 0.0615, 6.1607, 1.7509, -0.1245, -0.0611, -0.0122, -0.8137, -7.0632, 7.4051, 1.5995, 0.2222, -0.0317, 0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 170):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:318487438ffd5b028911fe5d8d11a339aee86c285080c54616be75775def5156",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 170):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:36cb84d2609ee72a445c41c7cbe3ba4a71f4fe027f50b20da2d045974364700f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 170):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8cf0bb790a9c7ea6c4834908c05d6d6de52eb45f246b3a20c7ff8dea1901d418",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 21 attempt 0 · /messages · status 200 · 11.15 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 55 changed as sent

message 58 changed as sent

message 61 changed as sent

message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1055, 0.6094, 0.7441, -0.7143, -0.1844, -0.1345, 0.8981, 1.0172, 1.6783, 0.8185, -0.0425, 0.6254, 0.524, 0.5678]\nstate[eef_state]: left_x=0.2448 left_y=0.0103 left_z=0.2221 left_yaw=0.1074 left_pitch=-0.0051 left_roll=-0.0005 left_gripper=0.8981 right_x=0.2878 right_y=0.2758 right_z=0.0607 right_yaw=0.2143 right_pitch=-0.1239 right_roll=-0.0816 right_gripper=0.5678\nstate[joint_eff]: [-0.4444, 0.0615, 5.8872, 1.8291, -0.1343, -0.0269, -0.0122, 0.1299, -9.3333, 10.0581, 1.9121, 0.6862, 0.0659, 0.4322]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1055, 0.609, 0.7441, -0.7151, -0.1844, -0.1345, 0.8981, 1.0321, 1.8065, 0.6228, 0.2977, 0.6643, 0.5262, 0.8964]\nstate[eef_state]: left_x=0.2446 left_y=0.0103 left_z=0.2221 left_yaw=0.1074 left_pitch=-0.0055 left_roll=-0.0004 left_gripper=0.8981 right_x=0.2761 right_y=0.2567 right_z=0.0026 right_yaw=0.2027 right_pitch=-0.0905 right_roll=-0.0887 right_gripper=0.8964\nstate[joint_eff]: [-0.4444, 0.253, 6.188, 1.7607, -0.1148, -0.0073, -0.0122, -0.1162, -7.0632, 5.094, 1.6288, 0.2662, -0.0806, -0.1001]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1055, 0.609, 0.7441, -0.7155, -0.1841, -0.1345, 0.8981, 0.8352, 1.8473, 0.8082, 0.3588, 0.519, 0.3676, 0.9002]\nstate[eef_state]: left_x=0.2446 left_y=0.0102 left_z=0.222 left_yaw=0.1071 left_pitch=-0.0059 left_roll=-0.0005 left_gripper=0.8981 right_x=0.3588 right_y=0.2712 right_z=0.0448 right_yaw=0.2061 right_pitch=-0.0097 right_roll=-0.0045 right_gripper=0.9002\nstate[joint_eff]: [-0.2667, 0.0615, 6.1607, 1.7509, -0.1245, -0.0611, -0.0122, -0.8137, -7.0632, 7.4051, 1.5995, 0.2222, -0.0317, 0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 170):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:318487438ffd5b028911fe5d8d11a339aee86c285080c54616be75775def5156",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 170):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:36cb84d2609ee72a445c41c7cbe3ba4a71f4fe027f50b20da2d045974364700f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 170):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8cf0bb790a9c7ea6c4834908c05d6d6de52eb45f246b3a20c7ff8dea1901d418",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS+QgKjgEIEhgCKkAeTq3v/nVCTGZApQQWVhM/APSuPa3vNDSYmmsV8i+Fz9gtMwga5pmTB645CDOXVDHb6HS76dZ88mvURjmMJudXMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdiezNUGEgwSH5VCy7m4UaXo28kaDAslLztKnIOC5UJdDCIw1LlDVuGDdHambstBluSTQbhpuOKxSvtzFjj3u1v1MZx8zyAgkHz502UfVZ43R7aKKpcHuwFO+isZouD5TouZPjhHgoBe2kl2TuI6BTreQFZvO7lzTxEoLK55CGcmeZPShD4BnOuFw2BhpoE2r3JzQjTrDN+V2nU7SafotwNDnmI/9vCkIgdH3kPCSwhZkOnT2xPLoiun8anuehCVAg1WBzO21dagWpelslLx6c7EjnqKGkA4BdGUbpbKwqhO0w3xD5dcyflqDW6TOxVQ7IZT41+nH3q+BdA5QBt5ZgCNkmrr0A8LOBahqvjEYBU1Pll2Csj6gkoghAoVjeRTGjoRx9ywo0tJ2j36rqeu8HKwkL0d++icAAWU4UusRetQ7tX1+/fZj71QLd57EGsVEQosh5QCWI0DJA1M9jtOKf5kBkOaSoUo/ZQFZNEHHV8wCnHZykDIO/1upRm4Xe7PK4CkfNT4jzYnDOgkZfu6z5RJvuIslfaNY/NYUxekA73OUlGQsMQ+JuSrZtrAYEi89A4l8rYI4J1gGScJEcWi07M7Pna6CCh1Q3H56xW8mLkjQuNF8G4yYi2ZQtE0Ikj8lthbNTMEBSIVIT8GLyDySs5iBrHWGr2hxxjm5H+cCQcRe4JvN8EsqTHcmLo990vjk1U2jCZlaCwtHmiqchJZ8yVGFTMoMJ/+Ot4Q3OMC3a8pBx3S1NLUxkLK22pC1ypavqVsaxzDTvddzcRlkDKeqPCOhaWnerZlibzhWGTT39Xfx/y+J7cTloF98MvLstUXQO4zZw3+DkNahAQYrIuDeqxHVockcIHcZO1ZqlbhlrGoJDDJ8YVGbyrYsybzgFYyDOXPg8/Tdk0SwpPRwUndcgirNdFoarPxiA8mm6QEQFIk+o47cou3wS7l0tvgAYLhUv+drsNOZ0EfjEP7GYASdrVVayEoH4YT8E0il28gG21uzbJf3fZVnEbI0WWOR8GCqcgXHpYOb86rQqyNn69Hp7XnABlw6FuP3+2UkFMHU6JzfYhm/kSalpKfW99fV4eRcx5h7wLfBPw1xjIc/B+xf+kXpnPxTvwecsSeXDdPe7xRei9XmPGd8bqvtv8tX+gWnNfHu6BJFLCy965IIx3G0pKFADcG9SSCjt6HPrwtsZK/GpGG/+Iwue97IwfBKq/ble9J03BHBPfxYU7C0Z3VRxBZrRxZUSszG/RyjNkFX48EipSWmk3lUaHwh8wrn27EcRcy21g8sme9jiaBaVRDy+Qm6owynGL3TB3bNuTagmS2zX4Sp39+10dgijleZBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01W2qSkupKQJgwGEwMTFWJXs",
      "input": {
        "note": "Wrist view shows the bottle centred with its cap still ~6-8 cm ahead of the jaws; sliding forward 6 cm along the bottle axis to bring the neck between the jaws.",
        "targets": {
          "right_x": 0.418,
          "right_y": 0.283
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01W2qSkupKQJgwGEwMTFWJXs",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1055, 0.6083, 0.7441, -0.7155, -0.1841, -0.1345, 0.8981, 0.7559, 1.9697, 0.9737, 0.3321, 0.4484, 0.3008, 0.9006]\nstate[eef_state]: left_x=0.2445 left_y=0.0102 left_z=0.2221 left_yaw=0.1071 left_pitch=-0.0052 left_roll=-0.0007 left_gripper=0.8981 right_x=0.4043 right_y=0.2808 right_z=0.0411 right_yaw=0.2186 right_pitch=-0.0207 right_roll=-0.0146 right_gripper=0.9006\nstate[joint_eff]: [-0.4308, 0.0342, 6.2291, 1.7753, -0.1197, -0.0415, -0.0171, -1.0462, -8.4444, 7.3778, 1.7021, 0.1832, 0.0415, 0.0269]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 175):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dd2422ee9c4122671f78f42872c6a74275812f479fa1b0a68ff37c4eae888444",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 175):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:76d3f8c9fcc905c2e59e2b7f038fc35bff422a426aeae07c55b950c69c574470",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 175):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:72416c36f1feaf0c02fae9664a52736af058efec8490e7c6c383190c440512ea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 22 attempt 0 · /messages · status 200 · 10.01 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 58 changed as sent

message 61 changed as sent

message 64 changed as sent

message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1055, 0.609, 0.7441, -0.7151, -0.1844, -0.1345, 0.8981, 1.0321, 1.8065, 0.6228, 0.2977, 0.6643, 0.5262, 0.8964]\nstate[eef_state]: left_x=0.2446 left_y=0.0103 left_z=0.2221 left_yaw=0.1074 left_pitch=-0.0055 left_roll=-0.0004 left_gripper=0.8981 right_x=0.2761 right_y=0.2567 right_z=0.0026 right_yaw=0.2027 right_pitch=-0.0905 right_roll=-0.0887 right_gripper=0.8964\nstate[joint_eff]: [-0.4444, 0.253, 6.188, 1.7607, -0.1148, -0.0073, -0.0122, -0.1162, -7.0632, 5.094, 1.6288, 0.2662, -0.0806, -0.1001]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1055, 0.609, 0.7441, -0.7155, -0.1841, -0.1345, 0.8981, 0.8352, 1.8473, 0.8082, 0.3588, 0.519, 0.3676, 0.9002]\nstate[eef_state]: left_x=0.2446 left_y=0.0102 left_z=0.222 left_yaw=0.1071 left_pitch=-0.0059 left_roll=-0.0005 left_gripper=0.8981 right_x=0.3588 right_y=0.2712 right_z=0.0448 right_yaw=0.2061 right_pitch=-0.0097 right_roll=-0.0045 right_gripper=0.9002\nstate[joint_eff]: [-0.2667, 0.0615, 6.1607, 1.7509, -0.1245, -0.0611, -0.0122, -0.8137, -7.0632, 7.4051, 1.5995, 0.2222, -0.0317, 0.0073]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1055, 0.6083, 0.7441, -0.7155, -0.1841, -0.1345, 0.8981, 0.7559, 1.9697, 0.9737, 0.3321, 0.4484, 0.3008, 0.9006]\nstate[eef_state]: left_x=0.2445 left_y=0.0102 left_z=0.2221 left_yaw=0.1071 left_pitch=-0.0052 left_roll=-0.0007 left_gripper=0.8981 right_x=0.4043 right_y=0.2808 right_z=0.0411 right_yaw=0.2186 right_pitch=-0.0207 right_roll=-0.0146 right_gripper=0.9006\nstate[joint_eff]: [-0.4308, 0.0342, 6.2291, 1.7753, -0.1197, -0.0415, -0.0171, -1.0462, -8.4444, 7.3778, 1.7021, 0.1832, 0.0415, 0.0269]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 175):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dd2422ee9c4122671f78f42872c6a74275812f479fa1b0a68ff37c4eae888444",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 175):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:76d3f8c9fcc905c2e59e2b7f038fc35bff422a426aeae07c55b950c69c574470",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 175):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:72416c36f1feaf0c02fae9664a52736af058efec8490e7c6c383190c440512ea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01LM2eSMZJ7dn6yoCBmzLrGn",
      "input": {
        "note": "Closer now: the cap sits just ahead of the jaws in the wrist view; advancing a final 3.5 cm so the open jaws straddle the narrow neck just below the cap.",
        "targets": {
          "right_x": 0.438,
          "right_y": 0.291
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01LM2eSMZJ7dn6yoCBmzLrGn",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1055, 0.6083, 0.7441, -0.7151, -0.1844, -0.1345, 0.8981, 0.7456, 1.9827, 0.9897, 0.3359, 0.44, 0.2893, 0.9006]\nstate[eef_state]: left_x=0.2445 left_y=0.0103 left_z=0.2222 left_yaw=0.1074 left_pitch=-0.0047 left_roll=-0.0006 left_gripper=0.8981 right_x=0.41 right_y=0.2811 right_z=0.0412 right_yaw=0.2213 right_pitch=-0.0175 right_roll=-0.0162 right_gripper=0.9006\nstate[joint_eff]: [-0.2667, 0.0615, 6.3795, 1.8193, -0.1294, -0.0464, -0.0122, -0.8821, -8.7453, 7.5145, 1.6874, 0.149, 0.0269, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0174357d2593c7ce63cfb2d64282fd072232d11d386a3d9149c146f71d0037e5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5c556f21b1102d9b15c7b37f37c1b442bd91ae6a9121258dda9ce50436a4a6b9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 178):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:28f7c84f81c649e8f737a58f29711b0eff57e956564fb333b75ee69c44397256",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 23 attempt 0 · /messages · status 200 · 5.518 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 61 changed as sent

message 64 changed as sent

message 67 changed as sent

message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1055, 0.609, 0.7441, -0.7155, -0.1841, -0.1345, 0.8981, 0.8352, 1.8473, 0.8082, 0.3588, 0.519, 0.3676, 0.9002]\nstate[eef_state]: left_x=0.2446 left_y=0.0102 left_z=0.222 left_yaw=0.1071 left_pitch=-0.0059 left_roll=-0.0005 left_gripper=0.8981 right_x=0.3588 right_y=0.2712 right_z=0.0448 right_yaw=0.2061 right_pitch=-0.0097 right_roll=-0.0045 right_gripper=0.9002\nstate[joint_eff]: [-0.2667, 0.0615, 6.1607, 1.7509, -0.1245, -0.0611, -0.0122, -0.8137, -7.0632, 7.4051, 1.5995, 0.2222, -0.0317, 0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1055, 0.6083, 0.7441, -0.7155, -0.1841, -0.1345, 0.8981, 0.7559, 1.9697, 0.9737, 0.3321, 0.4484, 0.3008, 0.9006]\nstate[eef_state]: left_x=0.2445 left_y=0.0102 left_z=0.2221 left_yaw=0.1071 left_pitch=-0.0052 left_roll=-0.0007 left_gripper=0.8981 right_x=0.4043 right_y=0.2808 right_z=0.0411 right_yaw=0.2186 right_pitch=-0.0207 right_roll=-0.0146 right_gripper=0.9006\nstate[joint_eff]: [-0.4308, 0.0342, 6.2291, 1.7753, -0.1197, -0.0415, -0.0171, -1.0462, -8.4444, 7.3778, 1.7021, 0.1832, 0.0415, 0.0269]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1055, 0.6083, 0.7441, -0.7151, -0.1844, -0.1345, 0.8981, 0.7456, 1.9827, 0.9897, 0.3359, 0.44, 0.2893, 0.9006]\nstate[eef_state]: left_x=0.2445 left_y=0.0103 left_z=0.2222 left_yaw=0.1074 left_pitch=-0.0047 left_roll=-0.0006 left_gripper=0.8981 right_x=0.41 right_y=0.2811 right_z=0.0412 right_yaw=0.2213 right_pitch=-0.0175 right_roll=-0.0162 right_gripper=0.9006\nstate[joint_eff]: [-0.2667, 0.0615, 6.3795, 1.8193, -0.1294, -0.0464, -0.0122, -0.8821, -8.7453, 7.5145, 1.6874, 0.149, 0.0269, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0174357d2593c7ce63cfb2d64282fd072232d11d386a3d9149c146f71d0037e5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5c556f21b1102d9b15c7b37f37c1b442bd91ae6a9121258dda9ce50436a4a6b9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:28f7c84f81c649e8f737a58f29711b0eff57e956564fb333b75ee69c44397256",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS8QoKjgEIEhgCKkBme1H9CPEya4GtkZcMWyGUheRCjhj5VBzoL0okznusI8uib/JA7a27L/uyWFZFY+Q/uaeQclLeeHpdiF65Jt40Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAe6ezNUGEgyurzRw4Xk6Q3SKsK4aDCR5+mor8xCp4a7o9CIw6pmwQCILigFx+cCCpDNJ+jnUtZO6ctnLZhGlrrLOCnkpHrNPwRQryytFMENKEAXGKo8JnreO+praliWEtkk2J2G8zGoHNWnfE7StwVzQZokL6MIiCGIhGdQT0vlf+dgivhPYBDcoQtjMe6uE1M1/rUQIneSfW4/jmEPwKDWOsYhXqEECZXN1YNxVEdtlXhiFZhKNO46sESjl7Sb9h5hrhi4PJa4uXvt0sRyfk8O9sesejYysktxIvsyKjWYs6bUU0za9obNIb1DzRa0EtqdvhDwyTHdDrfGlh6Na+TFZaJuR4r1BKs0N4kvpMJOYH0Zaj7dGW15wnaOPkyrl3/JWc6RBxULvhwYt0koR5incKuphdAnb3COn6LoyNDUZ6TeohNpWd1EayVPFyPXmkAmlColCIqnPjEM6hmkT++hfH14OfFVGUakPc2gJ4KVrPKdu17JcjDPG09AjSzTcFaM/Zvz/rHnM4P46o1JviEyNkDDZndC7WjE9MUENpYgJ0VsinRUGiWOSdvnC4W4USRHErBLD5mcZQ81MuQcfYkCMDz5Uyky2b/L/+cQ6I25KgUfH7s4BP6lpikVe9TEDio0+n0qgY5qWZi2UMo7c49EnhGZ7K5WFY9HUnzMcA0F0oEeAiA6/hcLwvAztiyUvLS1pTm2rC8TDoBWJsBJPzbEtI5Zxyc5q/DEiMJXV2xbSmMYyaSkBNRxu7jG0QVCsht7xJGcert1Ty9N3LNStNhsfJ0LQl+Jbra1htp65EFqYz1fx2LXQKZlJfOWn/AMqKmyzAnIHgh4i0E/bTfi9njjHhunpodHYXYoTIDEXFo3r8DUMLTN4ocWqnmt10O5+peegcOKgOyiebikXc1yz4AlRIbHIaUgbhuz1tzn144LanrbLi/HzrNYAgRKZhLWQkh/n+eVa+02ITXiX7WjccRqnKuQBuFf4E6/AJ+TSLF5Jk/0PinWT+vpMZ17MbcWfoJxZVR+5dKMn1pAQJFYbGsC1R8UD06Vvx2STx6hBRBcilOB2L+OuYGjbmTyoCU9JioXzKtoOPBHkg32ohIm4jBHXjByd9o0zIgpcXcgmvZar+CFUY5L8vFx7BIc5/OuZ80AOWfzU9KdaRp0+v7hDEE6wVzKNLrvO4L+/GSXTX1gcGdN/RY8rA0OxQ2FPFzEcqDJ3b/9WVnRPNmhsyb04BQaJgHwCbKZ9t3hgmNuSbRE2gaq5VkmxjaZurZ8yWJmuJt8Gk+FHZ0pVmAktPknLeYLWqULuOBTVtFQAWGMTCiO37nxLrKnaMp/Wku48KLg7NUUHlc4G6Q47+aaUlPwRHmorsvV+ppM2z5OXdqfPYqbFPUxsrdIFFwdcsDsFbjR+taGYjT+CfdQSVKAXW53jMQehT8xb9cme9s/55EcxzAsyc4+QRx6IIO7NeY47P30hqxUHP7+9iJeE6ojr+nmE8RM9Pznp4NLNDOp0M/cpYJxMAdHfaTfD5s09g1+ibUPTQKcE4IoMjLPEPrIEFE4ye6DeFYyY0CLqLm1MhnDTUSSLrf5eWJRO1ehZaWSn8hsJmxFBo+WWX9o4kQSwI5L75ZlTOAs0zICAl++Q011HkNjjfsd9exCbp/ibJ2ruAhoSIGCRT7OQGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01AGJ8bsF74wSQS29mP1pdsL",
      "input": {
        "note": "The jaws are around the bottle's shoulder/neck region and the arm stopped short (contact), so I close to ~2.7 cm: too narrow for the shoulder to slip through but loose enough that the bottle can swing vertical when I lift.",
        "targets": {
          "right_gripper": 0.28
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01AGJ8bsF74wSQS29mP1pdsL",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1055, 0.6083, 0.7441, -0.7147, -0.1844, -0.1345, 0.8981, 0.7456, 1.9831, 0.9962, 0.3405, 0.4366, 0.2825, 0.4529]\nstate[eef_state]: left_x=0.2446 left_y=0.0103 left_z=0.2223 left_yaw=0.1074 left_pitch=-0.0044 left_roll=-0.0006 left_gripper=0.8981 right_x=0.4117 right_y=0.2834 right_z=0.0441 right_yaw=0.2278 right_pitch=-0.0093 right_roll=-0.0148 right_gripper=0.4529\nstate[joint_eff]: [-0.3077, 0.1162, 6.2017, 1.7705, -0.1197, -0.0659, -0.0122, -0.9094, -8.5812, 7.0906, 1.6728, 0.2173, 0.1148, 0.7009]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 185):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d731ee70f9e6ef1eee8ce982d2f85ae9469d9e711d6ce5b292291cafe268781d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 185):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c80c9fb38ee52c1df52c76289c0c5705376e96759ac58cd74b26d84ffc23e6f9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 185):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:182aa11f7510d86ec0ac9add29f5997a472836d127b0370fae07ced3c5b95736",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 24 attempt 0 · /messages · status 200 · 6.52 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 64 changed as sent

message 67 changed as sent

message 70 changed as sent

message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1055, 0.6083, 0.7441, -0.7155, -0.1841, -0.1345, 0.8981, 0.7559, 1.9697, 0.9737, 0.3321, 0.4484, 0.3008, 0.9006]\nstate[eef_state]: left_x=0.2445 left_y=0.0102 left_z=0.2221 left_yaw=0.1071 left_pitch=-0.0052 left_roll=-0.0007 left_gripper=0.8981 right_x=0.4043 right_y=0.2808 right_z=0.0411 right_yaw=0.2186 right_pitch=-0.0207 right_roll=-0.0146 right_gripper=0.9006\nstate[joint_eff]: [-0.4308, 0.0342, 6.2291, 1.7753, -0.1197, -0.0415, -0.0171, -1.0462, -8.4444, 7.3778, 1.7021, 0.1832, 0.0415, 0.0269]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1055, 0.6083, 0.7441, -0.7151, -0.1844, -0.1345, 0.8981, 0.7456, 1.9827, 0.9897, 0.3359, 0.44, 0.2893, 0.9006]\nstate[eef_state]: left_x=0.2445 left_y=0.0103 left_z=0.2222 left_yaw=0.1074 left_pitch=-0.0047 left_roll=-0.0006 left_gripper=0.8981 right_x=0.41 right_y=0.2811 right_z=0.0412 right_yaw=0.2213 right_pitch=-0.0175 right_roll=-0.0162 right_gripper=0.9006\nstate[joint_eff]: [-0.2667, 0.0615, 6.3795, 1.8193, -0.1294, -0.0464, -0.0122, -0.8821, -8.7453, 7.5145, 1.6874, 0.149, 0.0269, -0.0073]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1055, 0.6083, 0.7441, -0.7147, -0.1844, -0.1345, 0.8981, 0.7456, 1.9831, 0.9962, 0.3405, 0.4366, 0.2825, 0.4529]\nstate[eef_state]: left_x=0.2446 left_y=0.0103 left_z=0.2223 left_yaw=0.1074 left_pitch=-0.0044 left_roll=-0.0006 left_gripper=0.8981 right_x=0.4117 right_y=0.2834 right_z=0.0441 right_yaw=0.2278 right_pitch=-0.0093 right_roll=-0.0148 right_gripper=0.4529\nstate[joint_eff]: [-0.3077, 0.1162, 6.2017, 1.7705, -0.1197, -0.0659, -0.0122, -0.9094, -8.5812, 7.0906, 1.6728, 0.2173, 0.1148, 0.7009]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 185):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d731ee70f9e6ef1eee8ce982d2f85ae9469d9e711d6ce5b292291cafe268781d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 185):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c80c9fb38ee52c1df52c76289c0c5705376e96759ac58cd74b26d84ffc23e6f9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 185):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:182aa11f7510d86ec0ac9add29f5997a472836d127b0370fae07ced3c5b95736",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISoAQKjgEIEhgCKkAm8jTGKuL5VH2+mXv3pyJY4HAF2bgbkGcvkDPX/bPakxAyq5s36da4edeyeGpw+wSjNnQ+164Cm0VD5WkydNATMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfSezNUGEgxJyJqozwX+FWxbCP0aDFjMf74ejOZ4bmGS9iIwF9nhnfNMzCHMUqMCAdZsRkGvPKkUe5Ysx9+56xQs/MMU9gR93PBR8qCl1qWJqtZcKr4CiyhilqIZ6rx8YhfL+FPWEb6w7tVKkiUz8ba/pb0nVLlfJlsgyDsaza98ejkcEnlp9ckJIh5sSNTIntbv67iPC+XJ4rU4kF4infXxp4nDcBHLjE0ayRcxtS/EJAgUMx0GGc6DsTdA9gpDSbD6to/iLoAmLWYf1BxuyhjETkR1/zF4K8GKdvZg4zPboPQfi2ZSwM6nEfBU0Yy4czdyws2aC9SlympWNXhTt9+kjST+uQy0kREiuMKKGRNah2nIs88IsgprW03tYv4nZzrbFUQNNgAUoAK/8L4zPHU8HbNusoLohXmwsEoEJ4r6eCjFojaVKFtn8TddHhPf6p3oAauTg0cQB+FZDGfrK2VEOx1U5RvIXFzTbTf1gLYUSNC7+f+XlzhvEkaRP9PaE56x5RTJZLLm0EIJ7W3aWZoXPGZJGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01K6pGUbup6MdHr4tjLUaR4g",
      "input": {
        "note": "Jaws settled at 4.3 cm on the bottle's tapered shoulder. Lifting to 32 cm: the loose grip should let the bottle swing down into a cap-up vertical hang.",
        "targets": {
          "right_z": 0.32
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 18 steps (1.8s)",
      "tool_use_id": "toolu_01K6pGUbup6MdHr4tjLUaR4g",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1055, 0.6083, 0.7441, -0.7155, -0.1844, -0.1345, 0.8981, 0.7456, 1.755, 1.8076, -0.7017, 0.4145, 0.2714, 0.4519]\nstate[eef_state]: left_x=0.2445 left_y=0.0103 left_z=0.2221 left_yaw=0.1074 left_pitch=-0.0051 left_roll=-0.0005 left_gripper=0.8981 right_x=0.4092 right_y=0.2859 right_z=0.3044 right_yaw=0.2515 right_pitch=-0.0182 right_roll=-0.0136 right_gripper=0.4519\nstate[joint_eff]: [-0.4444, 0.1436, 6.2427, 1.8095, -0.1392, -0.0464, -0.0122, -0.5265, -7.6239, 9.4017, 1.6825, 0.2906, 0.1832, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 203):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4c3721688edb77a7110ece6c8a2c3bc3ac48e9f41ed8e36ed795ebc06e32366d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 203):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:775572455018801dcb9e1cef7844ca6fe9b6250a8052a30f3322ebebb8ba6c6f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 203):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fd918340a6887c9f488b1df492d8d021461bea50ceb4fe3efae8978e31bf9267",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 25 attempt 0 · /messages · status 200 · 6.176 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 67 changed as sent

message 70 changed as sent

message 73 changed as sent

message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1055, 0.6083, 0.7441, -0.7151, -0.1844, -0.1345, 0.8981, 0.7456, 1.9827, 0.9897, 0.3359, 0.44, 0.2893, 0.9006]\nstate[eef_state]: left_x=0.2445 left_y=0.0103 left_z=0.2222 left_yaw=0.1074 left_pitch=-0.0047 left_roll=-0.0006 left_gripper=0.8981 right_x=0.41 right_y=0.2811 right_z=0.0412 right_yaw=0.2213 right_pitch=-0.0175 right_roll=-0.0162 right_gripper=0.9006\nstate[joint_eff]: [-0.2667, 0.0615, 6.3795, 1.8193, -0.1294, -0.0464, -0.0122, -0.8821, -8.7453, 7.5145, 1.6874, 0.149, 0.0269, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1055, 0.6083, 0.7441, -0.7147, -0.1844, -0.1345, 0.8981, 0.7456, 1.9831, 0.9962, 0.3405, 0.4366, 0.2825, 0.4529]\nstate[eef_state]: left_x=0.2446 left_y=0.0103 left_z=0.2223 left_yaw=0.1074 left_pitch=-0.0044 left_roll=-0.0006 left_gripper=0.8981 right_x=0.4117 right_y=0.2834 right_z=0.0441 right_yaw=0.2278 right_pitch=-0.0093 right_roll=-0.0148 right_gripper=0.4529\nstate[joint_eff]: [-0.3077, 0.1162, 6.2017, 1.7705, -0.1197, -0.0659, -0.0122, -0.9094, -8.5812, 7.0906, 1.6728, 0.2173, 0.1148, 0.7009]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1055, 0.6083, 0.7441, -0.7155, -0.1844, -0.1345, 0.8981, 0.7456, 1.755, 1.8076, -0.7017, 0.4145, 0.2714, 0.4519]\nstate[eef_state]: left_x=0.2445 left_y=0.0103 left_z=0.2221 left_yaw=0.1074 left_pitch=-0.0051 left_roll=-0.0005 left_gripper=0.8981 right_x=0.4092 right_y=0.2859 right_z=0.3044 right_yaw=0.2515 right_pitch=-0.0182 right_roll=-0.0136 right_gripper=0.4519\nstate[joint_eff]: [-0.4444, 0.1436, 6.2427, 1.8095, -0.1392, -0.0464, -0.0122, -0.5265, -7.6239, 9.4017, 1.6825, 0.2906, 0.1832, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 203):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4c3721688edb77a7110ece6c8a2c3bc3ac48e9f41ed8e36ed795ebc06e32366d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 203):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:775572455018801dcb9e1cef7844ca6fe9b6250a8052a30f3322ebebb8ba6c6f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 203):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fd918340a6887c9f488b1df492d8d021461bea50ceb4fe3efae8978e31bf9267",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS5AYKjgEIEhgCKkBB+8/99zInJILuoDjswtkkW9REhDg0MCVBvPmgAM14wafr8pQMULHzmTnwHjM23ZTpJYONkGHv/Q1UG0s1FiaDMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAf2ezNUGEgyZW0Yg8BrKjO084nQaDHHhxHNExfCQbydAdCIwIWx2iVW0+yKRP6XWt55WMCNzy21XQhD+yWMzwrWieF5oH2WxgcvPSXkF427I0fcSKoIF77nitMPTfILmLP1HiUabgNyvdzODrUF8zqT0jYVhWYfw96SpnuJMQtlMMx9hHoW6nX+pVz3viyZf7/YRirOXycSrF8Js3unxjJqzTnea5qEKZwTLnucsfVDkvqoC2OGWF3L9icjN69OyYpROErE+jtYE8wY0SsZeMEyjdEAkVejY7EkpHtd1LXU7yD+GPSZ67tk9aILDV/QNLllDyDMz8tPkJRAA9Ez785sFP0B49JZh70PzFHVFMcomkq3V1Jq0jpP45s/zdVZ7EtXc7C9f02moqXCDmM1oWuUYgrrCrOTrADa2CGpVEBKPcXyMpNzGKPKW83QWaN9y7BdwDa4aslFbjKki3N1nFU8WMtVZUU95QiEyvWz8UL/SoOdIWFiSV53XfFyQ0Y3uF30J1CvEPKIXODXFWgf/yCk5ApD8G24g3U/G73NGM7rO7Voet478vCBKxK1502zsplAhtpwv/zPodFPKdWO+8Ez5BWOcC4w29piWK/jedwn/H/pUs0aUfvX++stoIeRhOMrVl44ERCCb34+qlggzE28Ha+PpGTugSO1JU46qLGUaxSkcakzldGehPKmbZOuUgI4FDH7F8sz9YFusOM7msVgi4/F4IXDcRSCh+CBn37xfqFtnAiVfDXBCvn0eoYaWSGRx9wMu031FuugdvV52pq88loOqgi6QYyFXgF+93DWeaL2fwfkULjt9hFshfSCBBBcDtZV9ZJqYYaz5lFW/tQkGGab7CVqV/cBogaMYWIc+iFn+rKA3esxEBQgZ8+8KG0ZoNeI43WnsUKBiY7zFccRlNbZDtUaWKbg6juGnrd58qbmoxUs7QINtD0yZ0QT2t3/wI71vlDquGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WmDgQL6iKNf6bsn8TEdxCY",
      "input": {
        "note": "The bottle is now hanging cap-up vertically in the jaws exactly as hoped. Lowering to ~20 cm so its base touches the table before I release.",
        "targets": {
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01WmDgQL6iKNf6bsn8TEdxCY",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1055, 0.6083, 0.7441, -0.7151, -0.1844, -0.1345, 0.8981, 0.7456, 1.7187, 1.3453, -0.3382, 0.4137, 0.2745, 0.4518]\nstate[eef_state]: left_x=0.2445 left_y=0.0103 left_z=0.2222 left_yaw=0.1074 left_pitch=-0.0047 left_roll=-0.0006 left_gripper=0.8981 right_x=0.4018 right_y=0.2792 right_z=0.1883 right_yaw=0.2491 right_pitch=-0.0735 right_roll=-0.0405 right_gripper=0.4518\nstate[joint_eff]: [-0.335, 0.3624, 6.3111, 1.7998, -0.149, -0.0269, -0.0122, -0.1709, -9.2923, 6.9812, 2.0488, 0.0855, -0.0757, -0.022]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 210):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d6cca742996db21d3393413a6b692c4fe1a355ddb36f95f19a72dc95ec7718f3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 210):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0517a622a00369c2a4928a973340c8a0b04ea321a5b2e02a2b85df12145e2177",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 210):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:39bbf3d1f47530210c030f70edeffa3a8c9965ab5b5bad87179646ce48d5d3cd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 26 attempt 0 · /messages · status 200 · 3.572 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 70 changed as sent

message 73 changed as sent

message 76 changed as sent

message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1055, 0.6083, 0.7441, -0.7147, -0.1844, -0.1345, 0.8981, 0.7456, 1.9831, 0.9962, 0.3405, 0.4366, 0.2825, 0.4529]\nstate[eef_state]: left_x=0.2446 left_y=0.0103 left_z=0.2223 left_yaw=0.1074 left_pitch=-0.0044 left_roll=-0.0006 left_gripper=0.8981 right_x=0.4117 right_y=0.2834 right_z=0.0441 right_yaw=0.2278 right_pitch=-0.0093 right_roll=-0.0148 right_gripper=0.4529\nstate[joint_eff]: [-0.3077, 0.1162, 6.2017, 1.7705, -0.1197, -0.0659, -0.0122, -0.9094, -8.5812, 7.0906, 1.6728, 0.2173, 0.1148, 0.7009]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1055, 0.6083, 0.7441, -0.7155, -0.1844, -0.1345, 0.8981, 0.7456, 1.755, 1.8076, -0.7017, 0.4145, 0.2714, 0.4519]\nstate[eef_state]: left_x=0.2445 left_y=0.0103 left_z=0.2221 left_yaw=0.1074 left_pitch=-0.0051 left_roll=-0.0005 left_gripper=0.8981 right_x=0.4092 right_y=0.2859 right_z=0.3044 right_yaw=0.2515 right_pitch=-0.0182 right_roll=-0.0136 right_gripper=0.4519\nstate[joint_eff]: [-0.4444, 0.1436, 6.2427, 1.8095, -0.1392, -0.0464, -0.0122, -0.5265, -7.6239, 9.4017, 1.6825, 0.2906, 0.1832, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1055, 0.6083, 0.7441, -0.7151, -0.1844, -0.1345, 0.8981, 0.7456, 1.7187, 1.3453, -0.3382, 0.4137, 0.2745, 0.4518]\nstate[eef_state]: left_x=0.2445 left_y=0.0103 left_z=0.2222 left_yaw=0.1074 left_pitch=-0.0047 left_roll=-0.0006 left_gripper=0.8981 right_x=0.4018 right_y=0.2792 right_z=0.1883 right_yaw=0.2491 right_pitch=-0.0735 right_roll=-0.0405 right_gripper=0.4518\nstate[joint_eff]: [-0.335, 0.3624, 6.3111, 1.7998, -0.149, -0.0269, -0.0122, -0.1709, -9.2923, 6.9812, 2.0488, 0.0855, -0.0757, -0.022]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 210):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d6cca742996db21d3393413a6b692c4fe1a355ddb36f95f19a72dc95ec7718f3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 210):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0517a622a00369c2a4928a973340c8a0b04ea321a5b2e02a2b85df12145e2177",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 210):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:39bbf3d1f47530210c030f70edeffa3a8c9965ab5b5bad87179646ce48d5d3cd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISugUKjgEIEhgCKkBFjFrLv9z8Y90tRs8EDoTqz9zE4ZV22cz8lFfiZ9E1w8PpnP/AFiVGBAcHNA1zAU1IfUiL1UU6purF24dDAjqEMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYOfzNUGEgwDn+Za86suSukvdfwaDFKuAGQXbT60DprjASIwgTwzxtGkX1Q+THjzeb+GHe1TCI9yjHFOve2YU39cnMMKIFIwsUDoI29AOHx2DkWbKtgDwsQXh8iiYUuz6iZMwRsJR5gkfcFOB0Xv1KJBs9tkU1XmI+V3ebabsfAnSd7RfgKRPDq5aBOrZm+IYebQFe/g0P7MHezDTCboe58XSLg6xztO9e40r+VkOq08mlhxAwJxIKeKz+kOw2PKjf888xP+HuZblfASJZ2aFT1x5qTm0jD+ZEn60FW2k2F4HHCnV6Ob4O4/kExPeN68FGS08Nr/UXkZZ7T4A14W39omHY89bCsrWj2YCsCXxSYf1scgu92nM62pTAXJf8p5Z5rqq34CZJqFgy6UfAMsdIE1M7w8Z+yj5YQZMtocA45IJYr7bFBzIiZpt8+iuKSoe3jNqLD/m63OHMYuZ86z3banrNvho7cFPaR+YFPvFdkyjyaKsDoSg0r22xLlCqkTwxuMq/m3fYCVi5qIhLXNaYCJpmNd120u2E1RsOhfggbqW915GyzYWRyTF124Y+R81+akiv/7nsgNXZLpv15PUsuN7KZNN+bnL5EhiODgNtREUIf6J/y4VleIMXpDE8BbkFD7qBUwqK4PptB+DIY+r09bkUe4gr9kXUqpMxa8BKdJmEppvQzgkxdveODhk0v54k0cpr9Gb6Gr7cPuIW5NoAdaoeK2awbDdwL+OJiS+BgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018e2bsty7fFVB2sNoiaGmoB",
      "input": {
        "note": "Lowering further until the bottle's base rests on the table (descents stop at contact), before opening the jaws.",
        "targets": {
          "right_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_018e2bsty7fFVB2sNoiaGmoB",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1055, 0.6083, 0.7441, -0.7151, -0.1844, -0.1345, 0.8981, 0.746, 1.7054, 1.2152, -0.1719, 0.4107, 0.2638, 0.4518]\nstate[eef_state]: left_x=0.2445 left_y=0.0103 left_z=0.2222 left_yaw=0.1074 left_pitch=-0.0047 left_roll=-0.0006 left_gripper=0.8981 right_x=0.4001 right_y=0.2786 right_z=0.1687 right_yaw=0.2589 right_pitch=-0.0308 right_roll=-0.024 right_gripper=0.4518\nstate[joint_eff]: [-0.3214, 0.2667, 6.2154, 1.8144, -0.1197, -0.0513, -0.0122, -0.3077, -8.294, 7.0085, 1.9072, 0.1099, 0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 212):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d28b8b3a7fd7c3da9352e3cde207c30a1c0c2a9868b083fdd0995d500097a262",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 212):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f64b64a98166ad0cab160ab275b55fa30e38848930cbcdf0f26bda8f2f8d3148",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 212):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2927fe53002ace9c023a5f93df9b55a81de5a2981cc1ea2956399f90e60069a2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 27 attempt 0 · /messages · status 200 · 9.737 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 73 changed as sent

message 76 changed as sent

message 79 changed as sent

message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1055, 0.6083, 0.7441, -0.7155, -0.1844, -0.1345, 0.8981, 0.7456, 1.755, 1.8076, -0.7017, 0.4145, 0.2714, 0.4519]\nstate[eef_state]: left_x=0.2445 left_y=0.0103 left_z=0.2221 left_yaw=0.1074 left_pitch=-0.0051 left_roll=-0.0005 left_gripper=0.8981 right_x=0.4092 right_y=0.2859 right_z=0.3044 right_yaw=0.2515 right_pitch=-0.0182 right_roll=-0.0136 right_gripper=0.4519\nstate[joint_eff]: [-0.4444, 0.1436, 6.2427, 1.8095, -0.1392, -0.0464, -0.0122, -0.5265, -7.6239, 9.4017, 1.6825, 0.2906, 0.1832, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1055, 0.6083, 0.7441, -0.7151, -0.1844, -0.1345, 0.8981, 0.7456, 1.7187, 1.3453, -0.3382, 0.4137, 0.2745, 0.4518]\nstate[eef_state]: left_x=0.2445 left_y=0.0103 left_z=0.2222 left_yaw=0.1074 left_pitch=-0.0047 left_roll=-0.0006 left_gripper=0.8981 right_x=0.4018 right_y=0.2792 right_z=0.1883 right_yaw=0.2491 right_pitch=-0.0735 right_roll=-0.0405 right_gripper=0.4518\nstate[joint_eff]: [-0.335, 0.3624, 6.3111, 1.7998, -0.149, -0.0269, -0.0122, -0.1709, -9.2923, 6.9812, 2.0488, 0.0855, -0.0757, -0.022]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1055, 0.6083, 0.7441, -0.7151, -0.1844, -0.1345, 0.8981, 0.746, 1.7054, 1.2152, -0.1719, 0.4107, 0.2638, 0.4518]\nstate[eef_state]: left_x=0.2445 left_y=0.0103 left_z=0.2222 left_yaw=0.1074 left_pitch=-0.0047 left_roll=-0.0006 left_gripper=0.8981 right_x=0.4001 right_y=0.2786 right_z=0.1687 right_yaw=0.2589 right_pitch=-0.0308 right_roll=-0.024 right_gripper=0.4518\nstate[joint_eff]: [-0.3214, 0.2667, 6.2154, 1.8144, -0.1197, -0.0513, -0.0122, -0.3077, -8.294, 7.0085, 1.9072, 0.1099, 0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 212):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d28b8b3a7fd7c3da9352e3cde207c30a1c0c2a9868b083fdd0995d500097a262",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 212):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f64b64a98166ad0cab160ab275b55fa30e38848930cbcdf0f26bda8f2f8d3148",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 212):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2927fe53002ace9c023a5f93df9b55a81de5a2981cc1ea2956399f90e60069a2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISzwIKjgEIEhgCKkCsGGwlobdj7aUv25nsYaZV8M+NpTQAfT3wSw3NiOBUSOWb6wrB0b6hbwkBOccGEck9RqoqF+i9o83lRMLxHbtRMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYefzNUGEgy+g27QdOvMUaD9CicaDEfSGqy/sc7jeVWcFSIwlNRqbKg/PS8B9xxmvBNOQ5tohMg22TSgwQRpQvPH+A4/5kcLp3KajAtNZE1qv62jKm6MHjF1gpR51imwQ+J0zQJfYP+I9/HGkJS98vNCXFSt0XHEjDnCyYSVtL3tUePs5ApVg6Vs0JevvuzMGKzfETV4CJKAeOEch7JeVAHlHacwjIty/DHksIREbx/nUe5xNbDVy+1OO6wi2a7Bp/DA0hgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BPiwCUMEvByUqLYN84urnN",
      "input": {
        "note": "Bottle base is on the table; opening the jaws to release it standing upright.",
        "targets": {
          "right_gripper": 0.95
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01BPiwCUMEvByUqLYN84urnN",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1055, 0.6075, 0.7441, -0.7155, -0.1844, -0.1345, 0.8981, 0.746, 1.721, 1.1469, -0.1257, 0.4099, 0.2615, 0.9458]\nstate[eef_state]: left_x=0.2444 left_y=0.0103 left_z=0.2223 left_yaw=0.1074 left_pitch=-0.0044 left_roll=-0.0006 left_gripper=0.8981 right_x=0.3945 right_y=0.2736 right_z=0.141 right_yaw=0.2599 right_pitch=-0.0645 right_roll=-0.0432 right_gripper=0.9458\nstate[joint_eff]: [-0.4718, 0.1299, 6.2017, 1.8095, -0.1392, -0.0659, -0.0171, -0.3624, -9.5932, 7.8291, 2.0391, 0.1636, 0.105, -0.0952]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 217):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3ab764199f83a6edbf31e8d2d0b164147d5cf8a8dfd4dca8cb6c32fdfa08d241",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 217):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6c665ab592fd76e0aab541df50aefb714df069e09630597f627918b4e6ceb14b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 217):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:376a07b8ab82f05fd7132773b926b77a2bd0cb9381b4acfe186d37e9c4e7fa1b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 28 attempt 0 · /messages · status 200 · 15.22 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 76 changed as sent

message 79 changed as sent

message 82 changed as sent

message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1055, 0.6083, 0.7441, -0.7151, -0.1844, -0.1345, 0.8981, 0.7456, 1.7187, 1.3453, -0.3382, 0.4137, 0.2745, 0.4518]\nstate[eef_state]: left_x=0.2445 left_y=0.0103 left_z=0.2222 left_yaw=0.1074 left_pitch=-0.0047 left_roll=-0.0006 left_gripper=0.8981 right_x=0.4018 right_y=0.2792 right_z=0.1883 right_yaw=0.2491 right_pitch=-0.0735 right_roll=-0.0405 right_gripper=0.4518\nstate[joint_eff]: [-0.335, 0.3624, 6.3111, 1.7998, -0.149, -0.0269, -0.0122, -0.1709, -9.2923, 6.9812, 2.0488, 0.0855, -0.0757, -0.022]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1055, 0.6083, 0.7441, -0.7151, -0.1844, -0.1345, 0.8981, 0.746, 1.7054, 1.2152, -0.1719, 0.4107, 0.2638, 0.4518]\nstate[eef_state]: left_x=0.2445 left_y=0.0103 left_z=0.2222 left_yaw=0.1074 left_pitch=-0.0047 left_roll=-0.0006 left_gripper=0.8981 right_x=0.4001 right_y=0.2786 right_z=0.1687 right_yaw=0.2589 right_pitch=-0.0308 right_roll=-0.024 right_gripper=0.4518\nstate[joint_eff]: [-0.3214, 0.2667, 6.2154, 1.8144, -0.1197, -0.0513, -0.0122, -0.3077, -8.294, 7.0085, 1.9072, 0.1099, 0.0708, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1055, 0.6075, 0.7441, -0.7155, -0.1844, -0.1345, 0.8981, 0.746, 1.721, 1.1469, -0.1257, 0.4099, 0.2615, 0.9458]\nstate[eef_state]: left_x=0.2444 left_y=0.0103 left_z=0.2223 left_yaw=0.1074 left_pitch=-0.0044 left_roll=-0.0006 left_gripper=0.8981 right_x=0.3945 right_y=0.2736 right_z=0.141 right_yaw=0.2599 right_pitch=-0.0645 right_roll=-0.0432 right_gripper=0.9458\nstate[joint_eff]: [-0.4718, 0.1299, 6.2017, 1.8095, -0.1392, -0.0659, -0.0171, -0.3624, -9.5932, 7.8291, 2.0391, 0.1636, 0.105, -0.0952]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 217):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3ab764199f83a6edbf31e8d2d0b164147d5cf8a8dfd4dca8cb6c32fdfa08d241",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 217):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6c665ab592fd76e0aab541df50aefb714df069e09630597f627918b4e6ceb14b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 217):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:376a07b8ab82f05fd7132773b926b77a2bd0cb9381b4acfe186d37e9c4e7fa1b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAISxAsKjgEIEhgCKkCovsf3L21V9AtB3bhYHYtR94mKFyYoeU2swAZFxb23nSCahpx/KzNvNRtHFmCwmKtrzLQfEZjpQ0XQLce5ydlLMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZGfzNUGEgwZd+kbpKmih3SPY1QaDCPBrqMYMr1tpAPUmiIw97HI7WANu3lRUFyruxHcO9tnRwDh/Wkg+5TmTKAGbrN1PVkdD6ahbqbT2UkgxuRQKuIJA1Z3DZjNLef3DtNU2NAtI2GZRMkKYgKIgWcsfKKa31PmyWvJbpO5aDMaIaxEJbFuG+ZCrLDt0OyBDfAQCehHIhGDwG2DG3U33Kgoymd/s1XAeGpvFg4xL3xK51RcWb3eZWBNivJ08DlX6mS3XpOAgbvQ8wuZnLIvkm1KMb7PbBH1P4B4OZwJZR99Xp3QIEGQhcj/16nXeeZugZVdXl1zIpabffNqXxIOvz9SZKhcUPR/HOlLscCHBibgFNvkelS1YJkJMzmfG+SFqJqsL5ZD6px2u0lzXPPlFydVj8TemiwslfKiRB+O3HyEmI9zPMYhSoe+f57ydgBFT+63RO4GKjYvRz/22EDgPtto5vugqXn+AA3UMlm8A12z5Ue1927edIL5pxr1zKle0xEL8b5o9VvN3xW9vwXqz7nvqCCVoDfPnU9jiWdddDihkI631hXx5kvo0rNTZFjscvrL5G64aVD0eAquD3DcFwvJfSk/iMAwgW6IbPSGDbYnv65j+XCXGWpxow68k7DD/tKHW5l9MWvEveoiSGwwqQDZvSaZyBjx8OGKFQBzlhuZuvJzLp1VSkAtaxCiC69ZObbljo5LvneEB9d/yRF7IaFrYi2iX2GtI5ZgnKfikdEW1hcHdqbhZlgC/hOnQEudC6+Au3eQOzAJG0Tj101uEBFVmqMeWl4BfCsIKABFerlLTVBGlZ3hvKXNoSw1fh8+8b2y+GjtOvv8XO8x+ZHJFFzLl/WCvC5tSP2vOhPZALSITFkyxg0UTurXGhoEhyMm93mFtMRXxNSFl1K+DcrkHq/B0UGwPfG5FyxebgGu4lfIZzRXdaawA+jbBCHbn8Y6WIBvp33r3Ta0zMBbv+QjQKA8zb2r5Eg60jG/F9TUKHuhpAp9k0ayzAIOYjp+xsnXMc7L/iAM55GFWjWuq+awVpygEjR9otOqmZoI4b5cIvQoVsmfF+NIcEy9rUPHhjDY7zNqejYn3hi6xzxlwA4S90x/y42/nSAcWKZch+1iaswQILdrK862WgCzRYt1wJckfMa/XfNS/1D3cuk9rexsVsKilgueuoNc2sBAjJvxuG68z7296Y4r28pC7gthGWSdY67kvFUS9ZeBQb3vy0aBsCP2PZ6L3w8rJfRXJslsCUbNcOey6GfyFz9rvK/3KEBJ2Y2SKFL8E0uTStYGs/uPw3qoLo8lWp+7xio9YWWEG3qmn23UriT8gTa8PGxbJ/2FCSd6/0C+CSI0bRJY4AnGWBkmvuV0q4oYwHtip5Tzh64Ks8Ye+aYxRviry0hXeeYUBkD/OIUv3H53EPURQd4VNNBvCbwXyYDLEhb3iBMA+jZ7mM7nyH+8lR4OTawqPWGbj2ULxvWplawEwV/Q7PuWGgxjpBScZ3s9U7kIE43kqX49FG7QLDLkuWnp/+52c8fo0qu2e2WhySohIBK3gSxP7Owhml5XHoOhLQpsGsGZVmBCsmos8TA9QWCijbtBiJOcmMX8A4kmwd7NfEEy+G138n3MvvJiF5jZq08HcgpETLbMXHVCJ4DotQGdON3c30udA59sN1yJEjbNRgKgIAR3pZ0zLvmt1F5tAjtbLoBKXIHxRi9TqbrOYStUzXFrwddIQEvpYo20cyJOm4ZhdIoKF/em9Ysg53sG7UNnKmWGsKWSCB70eODsEkwYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01AnYYe3yvNbMg7Xtm6TSwWd",
      "input": {
        "note": "The first bottle is now standing upright; backing the right arm up and away so it doesn't knock it over, and to clear the overhead view.",
        "targets": {
          "right_x": 0.3,
          "right_y": 0.15,
          "right_z": 0.3
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_01AnYYe3yvNbMg7Xtm6TSwWd",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1055, 0.606, 0.7441, -0.7155, -0.1844, -0.1345, 0.8981, 0.6144, 1.071, 1.1927, -0.6075, 0.3088, 0.1879, 0.9459]\nstate[eef_state]: left_x=0.2442 left_y=0.0103 left_z=0.2227 left_yaw=0.1074 left_pitch=-0.0029 left_roll=-0.001 left_gripper=0.8981 right_x=0.307 right_y=0.1553 right_z=0.3219 right_yaw=0.2496 right_pitch=0.1069 right_roll=0.0336 right_gripper=0.9459\nstate[joint_eff]: [-0.3214, 0.6496, 6.2427, 1.7802, -0.1538, -0.0659, -0.0171, -0.2393, -0.9915, 7.0632, 1.5018, -0.0464, 0.0513, -0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 228):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c976daf29cc3af8010550f39cf03cb1950434b4db60ad327755b7396fd1fbfca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 228):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ea19dea7e159ebefffc7867235b4c122c0543439fead89430356d3114c5e2c51",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 228):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8e1840dc1cfe7a9a34d9e2c9ab0a36b131bd6a333b258901e00e50ec21e33786",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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